### ekf config file ###
ekf_filter_node:
    ros__parameters:
        frequency: 20.0
        sensor_timeout: 2.0
        two_d_mode: true
        transform_time_offset: 0.0
        transform_timeout: 0.2
        print_diagnostics: false
        debug: false
        publish_tf: true
        publish_acceleration: false

        map_frame: map
        odom_frame: odom
        base_link_frame: base_footprint
        world_frame: odom

        odom0: odom
        odom0_config: [true, false, false,
                       false, false, false,
                       true,  true,  false,
                       false, false, false,
                       false, false, false]
        odom0_queue_size: 10
        odom0_nodelay: false
        odom0_differential: true
        odom0_relative: false

        odom1: odom
        odom1_config: [false, false, false,
                       false, false, true,
                       false, false, false,
                       false, false, false,
                       false, false, false]
        odom1_queue_size: 10
        odom1_nodelay: false
        odom1_differential: false
        odom1_relative: false

        # Disable IMU fusion in EKF for yaw so odom_combined orientation follows raw odom.
        # The raw odom yaw is already generated from the upper-node gyro-z integration chain.

        use_control: false
        stamped_control: false
        control_timeout: 0.2
        control_config: [true, false, false, false, false, true]
        acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4]
        deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5]
        acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9]
