42_gps_to_pose

<?xml version="1.0" encoding="utf-8"?>

<launch>
        <node name="gps_to_pose_conversion_node" pkg="geodetic_utils" type="gps_to_pose_conversion_node" clear_params="true"  output="screen">

        <param name="is_sim" value="false" />
        <param name="frame_id" value="odom" />
        <param name="tf_child_frame_id" value="base_link" />
        <param name="trust_gps" value="true" />
        <param name="trust_imu" value="false" />
        <param name="imu_offset" value="3.14" />
        <param name="heading_topic" value="heading" />
        <param name="trust_heading" value="true" />
        <param name="trust_wheel" value="false" />
        <param name="publish_transforms" value="true" />

        <param name="gps_ref_latitude" value="-35.88536147" />
        <param name="gps_ref_longitude" value="-62.70817212" />
        <param name="gps_ref_altitude" value="107.07" />

        <param name="fixed_covariance/orientation/x" value="g_latest_imu_msg.covariance.x" />
        <param name="fixed_covariance/orientation/y" value="g_latest_imu_msg.covariance.y" />
        <param name="fixed_covariance/orientation/z" value="g_latest_imu_msg.covariance.z" />

        <param name="publish_pose" value="true" />

        <remap from="/gps" to="/tcpfix" />
        <remap from="/imu" to="/imu/data" />

        </node>
</launch>