gps_to_pose.launch file from pochito

gps_to_pose.launch

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

<launch>
        <!-- node name="set_gps_reference_node" pkg="geodetic_utils" type="set_gps_reference_node" output="screen" -->

        <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" value="heading"/>
                <param name="trust_heading" value="true"/>
                <param name="trust_wheel" value="false"/>
                <param name="publish_transforms" value="true"/>

                <!--Los puntos a continuacion representan la siguiente ubicacion en Gerla http://i.imgur.com/Mk2pPtW.png
                Me queda la duda con la altura pero puede ser -->
                <param name="gps_ref_latitude" value="-35.8855674128"/>
                <param name="gps_ref_longitude" value="-62.7083575979"/>
                <param name="gps_ref_altitude" value="109.597"/>

                <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"/>
                <!-- estaba mandando de gpsfix to fix y lo voy a dejar como que mande a gps -->
                <!-- remap from="/gpsfix" to="/fix" /-->
                <remap from="/fix" to="/fix"/>
                <remap from="/imu" to="/imu/data"/>

        </node>
</launch>