um7 launch

<?xml version="1.0"?>
<launch>

  <node pkg="tf" type="static_transform_publisher" name="imu7link" args="-0.05 0.07 0.58 0.0 1.33 0.0  /
base_link /imu_link_um7  100"/>



  <node pkg="um7" type="um7_driver" name="um7_driver">
   <!-- <param name="port" type="string" value="$(optenv HUSKY_IMU_PORT /dev/clearpath/um7)"/> -->
    <param name="port" type="string" value="/dev/IMU"/>
    <param name="mag_updates" type="bool" value="false"/>
    <param name="frame_id" value="imu_link_um7"/>
    <param name="tf_ned_to_enu" value="false"/>
    <remap from="imu" to="imu_um7"/>
  </node>


   <node pkg="imu_transformer" type="imu_transformer_node" name="imu_data_transformer" output="screen">
    <remap from="imu_in" to="imu_um7"/>
    <remap from="imu_out/data" to="imu/data_raw"/>
    <remap from="imu_out/mag" to="imu/mag"/>
    <param name="target_frame" value="base_link"/>
  </node>

   <node pkg="imu_filter_madgwick" type="imu_filter_node" name="imu_filter_transformer" output="screen">
        <rosparam>
      orientation_stddev: 0.001
      gain: 0.01
      zeta: 0.001
      publish_tf: false
    </rosparam>
    <remap from="imu/data" to="imu_um7"/>
  </node>



</launch>