<commit_before><?xml version="1.0"?>
<launch>
    <node pkg="tf" type="static_transform_publisher" name="fcu_broadcaster" args="0 -0.1 0.4 0 0 0 1 base_footprint_fake local_origin 10"/>

    <node pkg="summit_xl_localization" type="local_tf" name="change_imu_frame"/>

     <!-- ekf_loc1 fuses only continuous data (imu and odometry). Publish the tf from odom_frame to base_footprint -->
   <node pkg="robot_localization" type="ekf_localization_node" name="ekf_loc1" clear_params="true" output="screen">
      <remap from="odometry/filtered" to="/odometry/filtered_odom" /> 

      <!-- Odometry update frequency: 15 Hz -->
      <param name="frequency" value="15"/>
      <param name="sensor_timeout" value="0.1"/>

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

      <param name="odom_frame" value="odom"/>
      <param name="base_link_frame" value="base_footprint"/>
      <param name="world_frame" value="odom"/>

      <param name="odom0" value="/odom"/>

     <!-- CHANGE TO /mavros/imu/data if local_tf node is not working -->
      <param name="imu0" value="/mavros/imu/data_new"/>

      <rosparam param="odom0_config">[false, false, true,
                                      false, false, false,
                                      true,  true, true,
                                      false, false, true,
                                      false, false, false]</rosparam>

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

      <param name="odom0_differential" value="false"/>
      <param name="imu0_differential" value="true"/>

      <param name="odom0_relative" value="false"/>
      <param name="imu0_relative" value="false"/>

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

      <param name="print_diagnostics" value="false"/>
   </node>
</launch>
<commit_msg>Update robot_localization_odom.launch<commit_after><?xml version="1.0"?>
<launch>  
      
     <node pkg="tf" type="static_transform_publisher" name="fcu_broadcaster" args="0 -0.1 0.40 0 0 0 1 base_footprint fcu 50"/> 

     <!-- ekf_loc1 fuses only continuous data (imu and odometry). Publish the tf from odom_frame to base_footprint -->
   <node pkg="robot_localization" type="ekf_localization_node" name="ekf_loc1" clear_params="true" output="screen">      
      <remap from="odometry/filtered" to="odometry/filtered_odom" />

      <param name="frequency" value="30"/>
      <param name="sensor_timeout" value="0.1"/>

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

      <param name="odom_frame" value="odom"/>
      <param name="base_link_frame" value="base_footprint"/>
      <param name="world_frame" value="odom"/>

      <!-- NOTE: when using only the twist components of odometry, it does not matter fusing the odometry from the wheels-->
      <param name="odom0" value="/imu_odom"/>
      <param name="imu0" value="/mavros/imu/data"/>

       <rosparam param="odom0_config">[false, false, false,
                                      false, false, false,
                                      true,  false, false,
                                      false, false, true,
                                      false, false, false]</rosparam>

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

      <param name="odom0_differential" value="true"/>
      <param name="imu0_differential" value="false" />

      <param name="odom0_relative" value="false"/>
      <param name="imu0_relative" value="true"/>
    
      <param name="imu0_remove_gravitational_acceleration" type="bool" value="true"/>

      <param name="print_diagnostics" value="false"/>
     
      <param name="imu0_queue_size" value="1"/>

   </node>

</launch>
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{'dir': 'git-commits-cleaned', 'id': '2402365', 'n_tokens_mistral': 1303, 'n_tokens_neox': 1195, 'n_words': 277}