<!-- Launch file for test_filter_base_diagnostics -->

<launch>
    <!-- 
        Although we test the filter base we need a valid node running which sends the diagnostic messages.
    -->
    <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true">
        
        <param name="odom0" value="example/odom"/>
        <param name="pose0" value="example/pose"/>
        <param name="twist0" value="example/twist"/>
        <param name="imu0" value="example/imu/data"/>

        <rosparam param="odom0_config">[false, false, false,
                                        false, false, false,
                                        true,  false, false,
                                        false, false, false,
                                        false, false, false]</rosparam>

        <rosparam param="pose0_config">[true,  true,  false,
                                        false, false, false,
                                        false, false, false,
                                        false, false, false,
                                        false, false, false]</rosparam>

        <rosparam param="twist0_config">[false, false, false,
                                         false, false, false,
                                         true,  true,  true,
                                         true,  true,  true,
                                         false, false, false]</rosparam>

        <rosparam param="imu0_config">[false, false, false,
                                       true,  true,  true,
                                       false, false, false,
                                       true,  true,  true,
                                       true,  true,  true]</rosparam>

        <param name="print_diagnostics" value="true"/>


    </node>
    <test test-name="test_filter_base_diagnostics" pkg="robot_localization" type="test_filter_base_diagnostics_timestamps" clear_params="true" time-limit="100.0" />

</launch>
