From 67a000d7d3840a35cda22c7074e207b1456c61ea Mon Sep 17 00:00:00 2001
From: Mehul Goel <mehulgoel873@gmail.com>
Date: Fri, 5 Jul 2024 22:13:00 -0700
Subject: [PATCH] tried fixing ekf launch

---
 rb_ws/src/buggy/launch/ekf.launch | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/rb_ws/src/buggy/launch/ekf.launch b/rb_ws/src/buggy/launch/ekf.launch
index 7768bee..0ec1f94 100644
--- 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>
\ No newline at end of file