ekf.launch

<launch>

    <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true">
      <param name="frequency" value="30"/>
      <param name="sensor_timeout" value="0.1"/>

      <param name="two_d_mode" value="false"/>
      <!-- Defaults to "map" if unspecified -->
      <param name="map_frame" value="map"/>
      <!-- Defaults to "odom" if unspecified -->
      <param name="odom_frame" value="odom"/>
      <!-- Defaults to "base_link" if unspecified -->
      <param name="base_link_frame" value="base_link"/>
      <!-- Defaults to the value of "odom_frame" if unspecified -->
      <param name="world_frame" value="odom"/>

    <param name="odom0" value="/camera/odom"/>
    <rosparam param="odom0_config">[true, true, true,
                                      true, true, true,
                                      false,  false, false,
                                      false, false, false,
                                      false, false, false]</rosparam>
    <param name="odom0_relative" value="true"/>
    <param name="odom0_differential" value="false"/>

    <param name="print_diagnostics" value="true"/>

    </node>

</launch>