a

config/ekf.yaml

@@ -77,9 +77,9 @@ ekf_filter_node:
         # do not provide some of the state variables estimated by the filter. For example, a TwistWithCovarianceStamped message
         # has no pose information, so the first six values would be meaningless in that case. Each vector defaults to all false
         # if unspecified, effectively making this parameter required for each sensor.
-        odom0_config: [true,  true,  false,
-                       false, false, false,
+        odom0_config: [false,  false,  false,
                        false, false, false,
+                       true, true, false,
                        false, false, true,
                        false, false, false]
 
@@ -98,8 +98,8 @@ ekf_filter_node:
 
         imu0: Imu
         imu0_config: [false, false, false,
-                      true,  true,  true,
-                      false, false, false,
-                      true,  true,  true,
-                      true,  true,  true]
+                      false,  false,  false,
+                      true, true, false,
+                      false,  false,  false,
+                      false,  false,  false]
         imu0_differential: false
\ No newline at end of file