- <rosparam param="odom0_config">[true, true, false, false, false, true, true, true, false, false, false, true, true, true, false]</rosparam>
- <rosparam param="imu0_config">[false, false, false, true, true, true, false, false, false, true, true, true, true, true, true]</rosparam>
- <rosparam param="odom1_config">[true, true, true, false, false, false, true, true, true, false, false, false, true, true, true]</rosparam>
-
+ <!-- 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>