fixes in ekf config

RoboJackets · Dec 8, 2024 · 7786a21 · 7786a21
1 parent 5baeea5
commit 7786a21
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/urc_localization/config/ekf.yaml b/urc_localization/config/ekf.yaml
@@ -100,7 +100,7 @@ ekf_filter_node_map:
 
 
     odom0: /odometry/gps
-    odom0_config: [true, true, true,
+    odom0_config: [true, true, false,
                  false, false, false,
                  false, false, false,
                  false, false, false,
@@ -177,6 +177,6 @@ navsat_transform:
         zero_altitude: false
         broadcast_utm_transform: true
         publish_filtered_gps: true
-        use_odometry_yaw: false
+        use_odometry_yaw: true
         wait_for_datum: false