- <include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
- <arg name="config_file" value="$(find wild_thumper)/config/cmd_vel_mux.yaml" />
- <arg name="nodelet_manager_name" value="nodelet_manager" />
- </include>
+ <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>