ekf_filter_node:
    ros__parameters:
        frequency: 30.0
        two_d_mode: true
        publish_acceleration: false
        publish_tf: true               # EKF 发布 odom→base_link TF
        use_sim_time: false

        map_frame: map
        odom_frame: odom
        base_link_frame: base_link
        world_frame: odom

        # 底盘里程计：融合 X/Y 速度 + 偏航角速度
        odom0: /odom
        odom0_config: [
            false, false, false,
            false, false, false,
            true, true, false,
            false, false, true,
            false, false, false
        ]
        odom0_relative: false
        odom0_queue_size: 10