+ <node pkg="gpsd_client" type="gpsd_client" name="gpsd_client" output="screen">
+ <param name="use_gps_time" value="false"/>
+ </node>
+
+ <node pkg="gps_common" type="utm_odometry_node" name="gps_conv">
+ <remap from="odom" to="odom_gps"/>
+ <param name="frame_id" value="base_footprint"/>
+ </node>
+
+ <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
+ <remap from="imu_data" to="imu"/>
+ <remap from="vo" to="odom_gps"/>
+ <remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
+ <param name="output_frame" value="odom"/>
+ <param name="freq" value="20.0"/>
+ <param name="vo_used" value="true"/>
+ <param name="debug" value="true"/>
+ <param name="sensor_timeout" value="2.0"/>
+ </node>