<launch>
  <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen">
    
    <!-- Parameters -->
    <param name="output_frame" value="odom"/>
    <param name="freq" value="30.0"/>
    <param name="sensor_timeout" value="5.0"/>
    <param name="odom_used" value="true"/>
    <param name="imu_used" value="true"/>
    <param name="vo_used" value="false"/>
    <param name="debug" value="false"/>
    <param name="self_diagnose" value="false"/>

    <!-- Remap Odometry Input -->
    <remap from="/odom" to="/odom_new"/>

  </node>
</launch>
