- <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" 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"/>
-
- <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 pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true" output="screen">
+ <rosparam command="load" file="$(find wild_thumper)/config/robot_localization.yaml"/>
+ <remap from="odometry/filtered" to="odom_combined"/>