From e3caec74101b9cc2870d05d01180d550df24e325 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sun, 16 Jul 2017 11:20:44 +0200
Subject: [PATCH] Added new launch file for gps

---
 .../{robot_localization.launch => gps.launch} | 42 +++++++++++--------
 1 file changed, 24 insertions(+), 18 deletions(-)
 rename launch/{robot_localization.launch => gps.launch} (84%)

diff --git a/launch/robot_localization.launch b/launch/gps.launch
similarity index 84%
rename from launch/robot_localization.launch
rename to launch/gps.launch
index 0a7aa6d..bcce41d 100644
--- a/launch/robot_localization.launch
+++ b/launch/gps.launch
@@ -1,16 +1,22 @@
 <?xml version="1.0"?>
-
-<!-- Launch file for ekf_localization_node -->
 <launch>
+	<node pkg="gpsd_client" type="gpsd_client"  name="gpsd_client" output="screen">
+		<param name="use_gps_time" value="false"/>
+	</node>
 
-	<!-- This node will take in measurements from odometry, IMU, stamped pose, and stamped twist messages. It tracks
-	 the state of the robot, with the state vector being defined as X position, Y position, Z position,
-	 roll, pitch, yaw, their respective velocites, and linear acceleration. Units for all measurements are assumed
-	 to conform to the SI standard as specified in REP-103. -->
-	<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true" output="screen">
+	<node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" output="screen">
+		<param name="magnetic_declination_radians" value="0.047"/>
+		<param name="yaw_offset" value="1.5708"/>
+		<param name="zero_altitude" value="true"/>
+		<param name="broadcast_utm_transform" value="true"/>
 
-		<!-- ======== STANDARD PARAMETERS ======== -->
+		<remap from="/imu/data" to="imu"/>
+		<remap from="/gps/fix" to="fix" />
+		<remap from="/odometry/filtered" to="odom_combined"/>
+		<remap from="/odometry/gps" to="gps"/>
+	</node>
 
+	<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization_gps" clear_params="true" output="screen">
 		<!-- The frequency, in Hz, at which the filter will output a position estimate. Note that
 		the filter will not begin computation until it receives at least one message from
 		one of the inputs. It will then run continuously at the frequency specified here,
@@ -21,7 +27,7 @@
 		   carry out a predict cycle on the EKF without correcting it. This parameter can be thought of
 		   as the minimum frequency with which the filter will generate new output. Defaults to 1 / frequency
 		   if not specified. -->
-		<!-- <param name="sensor_timeout" value="2.0"/> -->
+		<param name="sensor_timeout" value="0.1"/>
 
 		<!-- If this is set to true, no 3D information will be used in your state estimate. Use this if you
 		   are operating in a planar environment and want to ignore the effect of small variations in the
@@ -48,13 +54,13 @@
 			  3b. MAKE SURE something else is generating the odom->base_link transform. Note that this can even be
 			      another instance of robot_localization! However, that instance should *not* fuse the global data. -->
 		<!-- Defaults to "map" if unspecified -->
-		<param name="map_frame" value="map"/>
+		<param name="map_frame" value="gps"/>
 		<!-- Defaults to "odom" if unspecified -->
 		<param name="odom_frame" value="odom"/>
 		<!-- Defaults to "base_link" if unspecified -->
 		<param name="base_link_frame" value="base_footprint"/>
 		<!-- Defaults to the value of "odom_frame" if unspecified -->
-		<param name="world_frame" value="odom"/>
+		<param name="world_frame" value="gps"/>
 
 		<!-- Use this parameter to provide an offset to the transform generated by ekf_localization_node. This
 		   can be used for future dating the transform, which is required for interaction with some other
@@ -66,6 +72,7 @@
 		   e.g., odom0, odom1, twist0, twist1, imu0, imu1, imu2, etc. The value should be the topic name. These
 		   parameters obviously have no default values, and must be specified. -->
 		<param name="odom0" value="odom"/>
+		<param name="odom1" value="gps"/>
 		<param name="imu0" value="imu"/>
 		<rosparam param="imu0_queue_size">10</rosparam>
 
@@ -78,8 +85,9 @@
 		   making this parameter required for each sensor. -->
 		<!-- x/y not included because of redundancy with velocities -->
 		<!-- vyaw not included in odom because too inaccurate -->
-		<rosparam param="odom0_config">[false, false, false, false, false, false, true, true, true, false, false, true, false, false, false]</rosparam>
-		<rosparam param="imu0_config">[false, false, false, true, true, true, false, false, false, false, false, false, false, false, false]</rosparam>
+		<rosparam param="odom0_config">[false,  false,  false, false, false, false, true, true, false, false, false, true, false, false, false]</rosparam>
+		<rosparam param="odom1_config">[true,  true,  false, false, false, false, false, false, false, false, false, false, false, false, false]</rosparam>
+		<rosparam param="imu0_config">[false, false, false, false, false, true, false, false, false, false, false, false, false, false, false]</rosparam>
 
 		<!-- The best practice for including new sensors in robot_localization's state estimation nodes is to pass in velocity
 		   measurements and let the nodes integrate them. However, this isn't always feasible, and so the state estimation
@@ -98,6 +106,7 @@
 		   this is acceptable. For orientation variables, it can lead to trouble. Users should make sure that all orientation
 		   variables have at least one source of absolute measurement. -->
 		<param name="odom0_differential" value="false"/>
+		<param name="odom1_differential" value="false"/>
 		<param name="imu0_differential" value="false"/>
 
 		<!-- When the node starts, if this parameter is true, then the first measurement is treated as a "zero point" for all
@@ -105,6 +114,7 @@
 		   that the relative parameter doesn't cause the measurement to be converted to a velocity before integrating it. If
 		   you simply want your measurements to start at 0 for a given sensor, set this to true. -->
 		<param name="odom0_relative" value="false"/>
+		<param name="odom1_relative" value="false"/>
 		<param name="imu0_relative" value="false"/>
 
 		<!-- If we're including accelerations in our state estimate, then we'll probably want to remove any acceleration that
@@ -115,10 +125,6 @@
 		   if the node is unhappy with any settings or data. -->
 		<param name="print_diagnostics" value="true"/>
 
-		<!-- If true, will dynamically scale the process_noise_covariance based on the robot?s velocity. This is useful, e.g., when you want your
-		     robot?s estimate error covariance to stop growing when the robot is stationary. Defaults to false. -->
-		<param name="dynamic_process_noise_covariance" value="true"/>
-
-		<remap from="odometry/filtered" to="odom_combined"/>
+		<remap from="odometry/filtered" to="gps_combined"/>
 	</node>
 </launch>
-- 
2.39.5