localization.launch

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

<launch>
  <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" respawn="true" output="screen">
    <!-- Frequency of running the main loop. -->
    <param name="frequency" value="30" />

    <!-- Seconds waited before updating the world frame -->
    <param name="delay" value="0" />

    <!-- If the IMU doesn't account for magnetic declination, set the value for the location. -->
    <param name="magnetic_declination_radians" value="0" />
    
    <!-- The IMU's yaw to displace it that 0 faces east. -->
    <param name="yaw_offset" value="0" />  <!-- Was "remap." Not sure what it needs to be. -->

    <!-- If true, altitude is always assumed 0 -->
    <param name="zero_altitude" value="false" />

    <!-- Sets whether to broadcast the world_frame->utm to the world. -->
    <param name="broadcast_utm_transform" value="false" />

    <!-- Sets whether to broadcast a latitude-longitude pair. -->
    <param name="published_filtered_gps" value="true" />

    <!-- Sets whether to ignore the IMU data for its heading. -->
    <param name="use_odometry_yaw" value="false" />

    <!-- Sets whether to ignore the IMU data for its heading (again, but different). -->
    <param name="wait_for_datum" value="false" />
    
    <!-- Remaps where to input from. -->
    <remap from="/gps/fix" to="/fix" />
    <remap from="/imu/data" to="/imu/data" />
    <remap from="/odometry/filtered" to="/odometry/filtered" />


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