+
+ <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="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="false"/>
+ <param name="debug" value="true"/>
+ <param name="sensor_timeout" value="2.0"/>
+ </node>