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15 lines
684 B
XML
15 lines
684 B
XML
<launch>
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<node name="rover_gps" pkg="ublox_gps" type="ublox_gps" output="screen" clear_params="false" respawn="true" respawn_delay="10">
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<rosparam command="load" file="$(find ublox_gps)/config/nmea.yaml" />
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</node>
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<node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform" respawn="true" output="screen">
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<param name="magnetic_declination_radians" value="0"/>
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<param name="yaw_offset" value="0"/>
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<remap from="/imu/data" to="/your/imu/topic" />
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<remap from="/gps/fix" to="/rover_gps/fix" />
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<remap from="/odometry/filtered" to="/your/robot_localization/output/topic" />
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</node>
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</launch> |