ekf_filter_node:
  ros__parameters:
    use_sim_time: true
    frequency: 20.0
    sensor_timeout: 0.2
    two_d_mode: true
    publish_tf: true
    publish_acceleration: false
    print_diagnostics: true
    world_frame: odom
    odom_frame: odom
    base_link_frame: base_link
    odom0: /fixture/odom
    odom0_queue_size: 20
    odom0_differential: false
    odom0_relative: false
    # x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az
    odom0_config: [false, false, false, false, false, false, true, true, false, false, false, true, false, false, false]
    imu0: /fixture/imu
    imu0_queue_size: 20
    imu0_differential: false
    imu0_relative: false
    imu0_config: [false, false, false, false, false, false, false, false, false, false, false, true, false, false, false]