tried fixing ekf launch

CMU-Robotics-Club · Jul 6, 2024 · 67a000d · 67a000d
1 parent d2f1546
commit 67a000d
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/rb_ws/src/buggy/launch/ekf.launch b/rb_ws/src/buggy/launch/ekf.launch
@@ -9,7 +9,7 @@
     <arg name="manual_vel"          default="false" />
     <arg name="auto_vel"            default="false" />
 
-    <node pkg="tf" type="static_transform_publisher" name="static_transform" args="0 0 0 0 0 0  /base_footprint /base_link  100"/>
+    <!-- <node pkg="tf" type="static_transform_publisher" name="static_transform" args="0 0 0 0 0 0  /base_footprint /base_link  100"/> -->
 
     <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
         <param name="output_frame" value="odom_combined"/>
@@ -19,11 +19,12 @@
         <param name="odom_used" value="true"/>
         <param name="imu_used" value="true"/>
         <param name="vo_used" value="false"/>
+        <param name="gps_used" value="false"/>
         <param name="debug" value="true"/>
         <param name="self_diagnose" value="true"/>
 
-        <remap from="odom" to="/gnss1/fix"/>
         <remap from="imu_data" to="/imu/data"/>
+        <remap from="odom" to="/nav/odom"/>
   </node>
 
 </launch>