localization launch file

src/world_modeling/localization/config/config.yaml

@@ -0,0 +1,31 @@
+# Frame definitions
+map_frame: map		# Fixed global frame, global navigation
+odom_frame: odom	# Local reference that tracks robot position over time based on wheel encoders
+base_link_frame: base_link  # Robot's body frame, centered on the robot and moves with it
+
+#GPS
+GPS:
+	port: /dev/ttyUSB0
+    baud: 19200
+
+ODOM:
+    odom0: /odometry_topic  # Provides information about robot's position and velocity
+	odom0_config: [true, true, false, 
+           false, false, true, 
+           true, false, false, 
+           false, false, true, 
+           false, false, false]  # 2D configuration for X, Y position, velocity, and YAW
+
+IMU:
+	imu0: /imu_topic		# Inertial measurement unit, provides info on orientation, accelerations, angular velocity
+	imu0_config: [false, false, false, 
+          false, false, true, 
+          false, false, false, 
+          false, false, true, 
+          true, false, false]  # Yaw is important for steering and orientation
+
+# Parameters
+frequency: 50
+sensor_timeout: 0.1
+two_d_mode: true
+

src/world_modeling/localization/launch/localization.launch.py

@@ -9,7 +9,22 @@
 
 def generate_launch_description():
     """Launch localization node."""
+    config_file = LaunchConfiguration('config', default_value='./config/config.yaml')   #getting config we defined in config.yaml
+
 
     return LaunchDescription([
-
+        # Declare the launch argument
+        DeclareLaunchArgument(
+            'config',
+            default_value = config_file,
+        ),
+
+        Node(
+            package='robot_localization',
+            executable='ekf_localization_node',
+            name='ekf_localization_node',
+            parameters=[config_file],
+            output='screen'
+        )
     ])
+