+
+ <node pkg="gpsd_client" type="gpsd_client" name="gpsd_client" output="screen">
+ <param name="use_gps_time" value="false"/>
+ <param name="frame_id" value="base_footprint"/>
+ </node>
+
+ <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="0.0"/>
+ <param name="zero_altitude" value="true"/>
+ <param name="broadcast_utm_transform" value="true"/>
+
+ <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>