a

config/ekf.yaml

@@ -77,7 +77,7 @@ 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: [false,  false,  false,
+        odom0_config: [true,  true,  false,
                        false, false, false,
                        true, true, false,
                        false, false, false,