duro_example.launch

<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<launch>
    <node pkg="duro_ros" type="duronode" name="duro_driver" output="screen">
        <param name="ip_address" value="192.168.1.222"/>
        <param name="port" value="55555"/>
        <param name="gps_receiver_frame_id" value="duro"/>
        <param name="imu_frame_id" value="duro"/>
        <param name="utm_frame_id" value="map"/>

        <!-- orientation_source can be gps / odom  
        gps: orientation provided from the default gps modules 
        odom: orientation counted from previous positions        
        -->

        <param name="orientation_source" value="gps"/>

        <!-- z_coord_ref_switch can be zero / exact / zero_based / orig 
        zero: the Z coordinate is always 0
        exact: the Z coorindinate is always z_coord_exact_height param (must be set in this launch)
        zero_based: Z coordinate starts from 0 and relative
        orig: the original Z provided by Duro / Piksi
        -->
        <param name="z_coord_ref_switch" value="zero_based"/>
        <!-- euler_based_orientation
        true: euler based, not enabled by default, please enable SPB message SBP_MSG_ORIENT_EULER 0x0221 decimal 545
        false: quaternion based, not enabled by default, please enable SPB message SBP_MSG_ORIENT_QUAT 0x0220 decimal 544
        -->
        <param name="euler_based_orientation" value="true" />
    </node>
</launch>