robot_localization.yaml

#Configuation for robot odometry EKF
#
frequency: 50
two_d_mode: true
predict_to_current_time: true

odom0: /dingo_velocity_controller/odom
odom0_config: [false, false, false,
               false, false, false,
               true, true, false,
               false, false, true,
               false, false, false]
odom0_differential: false
imu0: /imu/data
imu0_config: [false, false, false,
              false, false, false,
              false, false, false,
              false, false, true,
              false, false, false]
imu0_differential: false
odom_frame: odom
base_link_frame: base_link
world_frame: odom