ekf_localization_1.launch

<?xml version="1.0"?>

<launch>

    <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization_1" clear_params="true">

    <param name="frequency" value="50"/>

    <param name="sensor_timeout" value="0.1"/>

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

    <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"/>

    <param name="transform_time_offset" value="0.0"/>

    <param name="imu0" value="imu/data"/>

    <rosparam param="imu0_config">[false, false, false,
                                   false, false, false,
                                   false,  false, false,
                                   false,  false,  true,
                                   true, false, false]</rosparam>

    <param name="imu0_differential" value="false"/>

    <param name="imu0_relative" value="false"/>

    <param name="imu0_remove_gravitational_acceleration" value="true"/>

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

    <param name="imu0_queue_size" value="10"/>

    <param name="debug"           value="false"/>
    <param name="debug_out_file"  value="debug_ekf_localization.txt"/>

    <rosparam param="process_noise_covariance">[0.05, 0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                0,    0.05, 0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                0,    0,    0.06, 0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                0,    0,    0,    0.03, 0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                0,    0,    0,    0,    0.03, 0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                0,    0,    0,    0,    0,    0.06, 0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                0,    0,    0,    0,    0,    0,    0.025, 0,     0,    0,    0,    0,    0,    0,    0,
                                                0,    0,    0,    0,    0,    0,    0,     0.025, 0,    0,    0,    0,    0,    0,    0,
                                                0,    0,    0,    0,    0,    0,    0,     0,     0.04, 0,    0,    0,    0,    0,    0,
                                                0,    0,    0,    0,    0,    0,    0,     0,     0,    0.01, 0,    0,    0,    0,    0,
                                                0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0.01, 0,    0,    0,    0,
                                                0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0.02, 0,    0,    0,
                                                0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0.01, 0,    0,
                                                0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0.01, 0,
                                                0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0.015]</rosparam>

         <rosparam param="initial_estimate_covariance">[1e-9, 0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                                        0,    1e-9, 0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                                        0,    0,    1e-9, 0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                                        0,    0,    0,    1e-9, 0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                                        0,    0,    0,    0,    1e-9, 0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                                        0,    0,    0,    0,    0,    1e-9, 0,    0,    0,    0,     0,     0,     0,    0,    0,
                                                        0,    0,    0,    0,    0,    0,    1e-9, 0,    0,    0,     0,     0,     0,    0,    0,
                                                        0,    0,    0,    0,    0,    0,    0,    1e-9, 0,    0,     0,     0,     0,    0,    0,
                                                        0,    0,    0,    0,    0,    0,    0,    0,    1e-9, 0,     0,     0,     0,    0,    0,
                                                        0,    0,    0,    0,    0,    0,    0,    0,    0,    1e-9,  0,     0,     0,    0,    0,
                                                        0,    0,    0,    0,    0,    0,    0,    0,    0,    0,     1e-9,  0,     0,    0,    0,
                                                        0,    0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     1e-9,  0,    0,    0,
                                                        0,    0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     1e-9, 0,    0,
                                                        0,    0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    1e-9, 0,
                                                        0,    0,    0,    0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    1e-9]</rosparam>

        <remap from="odometry/filtered" to="odometry/filteredIMU"/>

    </node>

</launch>