X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fgps.launch;fp=launch%2Fgps.launch;h=60a87f458779671efa2c5630490abc3763be7d23;hp=bcce41d1dc524afb6fc48eca2dd6f5c5bd7a0cfd;hb=d14cfe50a46c4225db4ff6b05de6954bf30de259;hpb=065571396c4327c12198fa8b368f7e17eb633861

diff --git a/launch/gps.launch b/launch/gps.launch
index bcce41d..60a87f4 100644
--- a/launch/gps.launch
+++ b/launch/gps.launch
@@ -2,11 +2,12 @@
 <launch>
 	<node pkg="gpsd_client" type="gpsd_client"  name="gpsd_client" output="screen">
 		<param name="use_gps_time" value="false"/>
+		<param name="frame_id" value="gps"/>
 	</node>
 
 	<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="yaw_offset" value="0.0"/>
 		<param name="zero_altitude" value="true"/>
 		<param name="broadcast_utm_transform" value="true"/>