navsat_transform_node: fix magnetic_declination_radians
[ros_wild_thumper.git] / launch / wild_thumper.launch
index a3f39f9..5d90cad 100644 (file)
                <arg name="nodelet_manager_name" value="nodelet_manager" />
        </include>
 
-       <!--
-       <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen" if="$(arg use_imu)">
-               <remap from="imu_data" to="imu"/>
-               <remap from="vo" to="gps"/>
-               <remap from="robot_pose_ekf/odom_combined" to="odom_combined"/>
-               <param name="output_frame" value="odom"/>
-               <param name="freq" value="20.0"/>
-               <param name="vo_used" value="false"/>
-               <param name="debug" value="false"/>
-               <param name="sensor_timeout" value="2.0"/>
-       </node>
-
-       <node pkg="gps_common" type="utm_odometry_node" name="gps_conv" output="screen">
-               <remap from="odom" to="gps"/>
-               <param name="frame_id" value="odom"/>
-               <param name="child_frame_id" value="base_footprint"/>
-       </node>
-       -->
-
        <include file="$(find wild_thumper)/launch/robot_localization.launch" if="$(arg use_imu)"/>
-       <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node">
-               <param name="magnetic_declination_radians" value="0.48"/>
+       <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"/>