ekf.launch

<!-- -*- mode: xml -*- -->
<!-- Based heavily on the example given at https://github.com/cra-ros-pkg/robot_localization/blob/indigo-devel/launch/ekf_template.launch -->

<launch>
  <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization_node" respawn="true" output="screen">
    <!-- The frequency at which the filter will output a position estimate. -->
    <param name="frequency" value="30" />

    <!-- The period after which the sensor is considered timed out. -->
    <param name="sensor_timeout" value="0.1" />

    <!-- Sets whether or not to care about 3D information. -->
    <param name="two_d_mode" value="true" />

    <!-- Specify three principle coordinate frames. -->
    <param name="map_frame" value="map" />
    <param name="odom_frame" value="odom" />
    <param name="base_link_frame" value="base_link" />
    <param name="world_frame" value="odom" />

    <!-- Offset the time by the given amount. -->
    <param name="transform_time_offset" value="0.0" />

    <!-- Set the locations of the various input sensors. -->
    <param name="imu0" value="/imu/data" />
    <param name="odom0" value="/odom" />
    <!-- <param name="odom0" value="/odom" /> -->

    <!-- Set whether to handle each of the given types of data from each sensor. This data being:
         x     y      z
         roll  pitch  yaw
         vx    vy     vz
         vroll vpitch vyaw
         ax    ay     az
    -->
    <rosparam param="imu0_config">
      [false, false, false,
      true, true, true,
      false, false, false,
      true, true, true,
      true, true, true]
    </rosparam>

    <rosparam param="odom0_config">
      [true, true, false,
      false, false, false,
      true, true, true,
      false, false, false,
      false, false, false]
    </rosparam>

    <!-- <rosparam param="odom0_config"> -->
    <!--   [false, false, false, -->
    <!--   false, false, false, -->
    <!--   true, false, false, -->
    <!--   false, false, false, -->
    <!--   false, false, false] -->
    <!-- </rosparam> -->

    <!-- Allows calculation of velocity via differentiation of the measured position. -->
    <param name="imu0_differential" value="false" />
    <param name="odom0_differential" value="false" />
    <!-- <param name="odom0_differential" value="true" /> -->

    <!-- Sets whether to set the 0 to be the starting position. -->
    <param name="imu0_relative" value="false" />
    <param name="odom0_relative" value="false" />

    <!-- Set whether to factor out gravitational acceleration. -->
    <param name="imu0_remove_gravitational_acceleration" value="Set" />

    <!-- true whether to print diagnostic information. -->
    <param name="print_diagnostics" value="true" />
  </node>
</launch>