fix odom input for navsat transform

RoboJackets · Dec 8, 2024 · 29ed484 · 29ed484
1 parent 7786a21
commit 29ed484
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/urc_localization/config/ekf.yaml b/urc_localization/config/ekf.yaml
@@ -171,10 +171,10 @@ navsat_transform:
         # Frequency of the main run loop
         frequency: 30.0
         # Delay time, in seconds, before we calculate the transform from the UTM frame to your world frame.
-        delay: 5.0
+        delay: 2.0
         magnetic_declination_radians: -0.06736971
         yaw_offset: 1.57079632679
-        zero_altitude: false
+        zero_altitude: true
         broadcast_utm_transform: true
         publish_filtered_gps: true
         use_odometry_yaw: true

diff --git a/urc_localization/launch/ekf.launch.py b/urc_localization/launch/ekf.launch.py
@@ -59,7 +59,7 @@ def generate_launch_description():
                 ],
                 remappings=[
                     ("/imu","/imu/data"),
-                    ("/odometry/filtered","/odometry/filtered_map"),
+                    ("/odometry/filtered","/odometry/filtered_twist"),
                     ("/gps/fix","/gps/data")
                 ]
             )