<launch>
  <node pkg="robot_localization" type="ekf_localization_node" name="ekf_se" clear_params="true">
    <rosparam command="load" file="$(find robot_localization)/params/ekf_template2.yaml" />
    <param name="/use_sim_time" value="true" />

    <param name="imu0" value="/raw_imu_2_very_good"/>
    <param name="imu1" value="/raw_imu_2_good"/>

  </node>
</launch>