gistfile1.txt

<launch>

  <!-- ======= ======= ======= ======= ======= ======= =======  -->

  <!-- Specifies the transform between the 'imu' frame that IMU data are reported on, & the base_link frame. -->
  <node pkg="tf" type="static_transform_publisher" name="base_link_to_imu_transform" args="0 0 0 0 0 0 base_link imu 100" />

  <!-- ======= ======= ======= ======= ======= ======= =======  -->

  <!-- subscribes to /nmea_sentence which is raw NMEA data from Arduino/node, converts to sensor_msgs/NavSatFix format & publishes on /fix  -->
  <node pkg="nmea_navsat_driver" type="nmea_topic_driver" name="nmea_topic_driver" respawn="true">

  </node>

  <!-- ======= ======= ======= ======= ======= ======= =======  -->

  <!-- subscribes to /odometry/gps (GPS data as odometry from navsat_transform_node) & /imu/data (IMU data from Arduino/node) & publishes on /odometry/filtered -->
  <node pkg="robot_localization" type="ukf_localization_node" name="ukf_localization_node" respawn="true" clear_params="true">

    <param name="imu0" value="/imu/data" />

    <!-- specifies what values the IMU data provides (order is position [F], orientation [T], velocity [F], angular velocity [T], linear acceleration [T] )  -->
    <rosparam param="imu0_config">
      [false, false, false,
       true, true, true,
       false, false, false,
       true, true, true,
       true, true, true]
    </rosparam>

    <param name="odom0" value="/odometry/gps" />

    <!-- specifies what values the odometry data provies (order is position [T], orientation [F]. velocity [F], angular velocity [F], linear acceleration [F] ) -->
    <rosparam param="odom0_config">
      [true, true, true,
       false, false, false,
       false, false, false,
       false, false, false,
       false, false, false]
    </rosparam>

    <param name="frequency" value="2" />
    <param name="sensor_timeout" value="2" />
    <param name="two_d_mode" value="false" />

  </node>

  <!-- ======= ======= ======= ======= ======= ======= =======  -->

  <!-- subscribes to /imu/data (sensor_msgs/Imu), /odometry/filtered (nav_msgs/Odometry) & /gps/fix (sensor_msgs/NavSatFix)
        publishes to /odometry/gps (nav_msgs/Odometry) & /gps/filtered (sensor_msgs/NavSatFix) -->
  <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" respawn="true">

    <remap from="/gps/fix" to="/fix" />

    <param name="magnetic_declination_radians" value="0.038106" />
    <param name="publish_filtered_gps" value="true" />
    <param name="broadcast_utm_transform" value="false" />
    <param name="wait_for_datum" value="false" />
    <param name="frequency" value="10" />
    <param name="yaw_offset" value="1.5707963" />
    <param name="use_odometry_yaw" value="false" />

  </node>

  <!-- ======= ======= ======= ======= ======= ======= =======  -->


</launch>