- <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="$(arg use_imu)"/>
- <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node">
- <param name="magnetic_declination_radians" value="0.48"/>
- <param name="yaw_offset" value="1.5708"/>
- <param name="zero_altitude" value="true"/>
- <param name="broadcast_utm_transform" value="true"/>
-
- <remap from="/imu/data" to="imu"/>
- <remap from="/gps/fix" to="fix" />
- <remap from="/odometry/filtered" to="odom_combined"/>
- <remap from="/odometry/gps" to="gps"/>
+ <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true" output="screen">
+ <rosparam command="load" file="$(find wild_thumper)/config/robot_localization.yaml"/>
+ <remap from="odometry/filtered" to="odom_combined"/>