<launch>
  <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" clear_params="true">
    <rosparam command="load" file="$(find robot_localization)/params/navsat_transform_template.yaml" />
    <param name="/use_sim_time" value="true" />
    <remap from="imu/data" to="/raw_imu_2_good"/>
  </node>
</launch>