<launch>
	<node name="localization" pkg="robot_localization" type="ekf_localization_node" clear_params="true">
	<param name="frequency" value="15." />
	<param name="sensor_timeout" value="0.2" />
	<param name="two_d_mode" value="true" />
	<param name="publish_tf" value="true" />
	<param name="odom_frame" value="odom" />
	<param name="base_link_frame" value="base_link" />
	<param name="imu_link_frame" value="imu_link" />
        <param name="imu0" value="imu"/>
        <param name="odom0" value="odom"/>
	<rosparam param="odom0_config"> [false, false, false,
                                         false, false, false,
                                         true,  true,  false,
                                         false, false, true,
                                         false, false, false ]</rosparam>

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