mobile_base.launch.xml

<!--
  Create's implementation of turtlebot's mobile base.
 -->
<launch>
  <arg name="serialport"/>
  <arg name="manager" default="none" /><!-- necessary parameter, but manager not actually needed for create base-->

  <!-- Turtlebot Driver -->
  <arg name="config" default="$(find create_bringup)/config/default.yaml" />
  <arg name="desc" default="true" />
  <node name="create_driver" pkg="create_driver" type="create_driver" output="screen">
    <rosparam command="load" file="$(arg config)" />
    <param name="robot_model" value="CREATE_2" />
    <remap from="cmd_vel" to="mobile_base/commands/velocity" />
  </node>

  <!-- The odometry estimator -->
  <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
    <remap from="imu_data" to="imu/data"/>
    <param name="freq" value="10.0"/>
    <param name="sensor_timeout" value="1.0"/>
    <param name="publish_tf" value="true"/>
    <param name="odom_used" value="true"/>
    <param name="imu_used" value="true"/>
    <param name="vo_used" value="false"/>
    <param name="output_frame" value="odom"/>
  </node>
</launch>