<!-- Launch file for navsat_transform test -->

<launch>

    <node name="navsat_transform_node" pkg="robot_localization" type="navsat_transform_node" output="screen" >
        <param name="use_odometry_yaw" value="true" />
        <param name="broadcast_cartesian_transform" value="true" />
        <param name="broadcast_cartesian_transform_as_parent_frame" value="true" />
    </node>

    <node name="static_pub" pkg="tf2_ros" type="static_transform_publisher" args="0 0 0 0 0 0 map base_link" />

    <test test-name="test_navsat_transform" pkg="robot_localization" type="test_navsat_transform" />

</launch>
