- <node pkg="gps_common" type="utm_odometry_node" name="gps_conv">
- <remap from="odom" to="odom_gps"/>
- <param name="frame_id" value="base_footprint"/>
+ <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"/>