Use GPS with robot_localization and navsat_transform_node

Hi to all, my configuration includes Novatel RTK GPS, Razor IMU and Husky with wheel encoders. I would like to implement a GPS waypoint navigation in ROS by using [robot_localization](http://wiki.ros.org/robot_localization) and [navsat_transform_node](http://docs.ros.org/kinetic/api/robot_localization/html/integrating_gps.html) as discussed in this [previous](http://answers.ros.org/question/251347/gps-waypoint-navigation-with-robot_localization-and-navsat_transform_node/) topic. My Razor IMU with [ROS driver](http://wiki.ros.org/razor_imu_9dof) report non-zero values when facing EAST, so I added the offset to make the IMU work accordingly with `navsat_transform_node`. My imu topic is: `/imu` My GPS topic is: `/fix` I tried to modify my `control.launch` file in order to add the `navsat_transform_node`, but I don't know if it is correct. I do not know if I correctly handled the two `robot_localization` nodes in the `control.launch` file. Can you please give me any suggestions, please? My `control.launch` file: My `test.yaml` file: odom_frame: odom base_link_frame: base_link world_frame: odom two_d_mode: false frequency: 50 odom0: husky_velocity_controller/odom odom0_config: [true, true, false, false, false, true, true, false, false, false, false, true, false, false, false] odom0_differential: false odom0_queue_size: 10 imu0: imu imu0_config: [false, false, false, true, true, true, false, false, false, true, true, true, true, true, true] imu0_differential: false imu0_queue_size: 10 imu0_remove_gravitational_acceleration: true odom1: odometry/gps odom1_config: [true, true, true, false, false, false, false, false, false, false, false, false, false, false, false] odom1_differential: false