Fixposition Localization 
========================

The normal robots localization module can be replaced or fused with the accurate Fixpositions odometry. The file below
is a ``yaml`` configuration file for a tracked robot's odometry using the module `Robot Localization <http://wiki.ros.org/robot_localization>`__.

.. code:: bash

    #Configuation for robot Odom EKF
    frequency: 100.0
    two_d_mode: true
    publish_tf: true

    predict_to_current_time: true
    transform_time_offset: 1

    odom_frame: odom
    base_link_frame: base_link
    world_frame: odom

    # X,  Y,   Z
    # r,  p,   y,
    # X'',Y',  Z'
    # r', p',  y'
    # X'',Y'', Z''

    odom0: rovo_base/odom
    odom0_config: [false, false, false, 
                false, false, false,
                true,  true,  false,
                false, false, true,
                false, false, false]
    odom0_differential: false
    odom0_queue_size: 10

    odom1: fixposition/odometry
    odom1_config: [true, true, false, 
                false, false, false,
                true,  true,  false,
                false, false, true,
                false, false, false]
    odom0_differential: false
    odom0_queue_size: 10

    imu0: imu/data
    imu0_config: [false, false, false,
                false, false, false,
                false, false, false,
                false, false, true,
                true,  true,  false]
    imu0_differential: false
    imu0_queue_size: 10
    imu0_remove_gravitational_acceleration: true