new update robot_localization

edit

I have so time work with this package, last week i update this in other work_space and started to do test with old bags. I was surprised because a observation, now the front of base_link its Y???? Before was X. This is a modification? I link my rosbag https://www.dropbox.com/s/1kkzfjnf0bi...

-New package

-Old package

EDIT 2: I did a rosbag record https://www.dropbox.com/s/njkh0m9qox7... i launch a ekf with the same position and 4 times with each cardinal points, and the tf between utm and odom no changes the orientation.

EDIT 3: https://www.dropbox.com/s/ws428skxsg1...

I record a rosbag that during 12 minuts, the secuence is the next

MIN              ACTIONS
0
                     Only launched gps and compass
                     Compass pointing to north
1
                     Launch ekf, navsat, tf
3
                     Shutdown ekf, navsat, tf
                     Compass pointing to south
4
                     Launch ekf, navsat, tf
6
                     Shutdown ekf, navsat, tf
                     Compass pointing to east
7
                     Launch ekf, navsat, tf
9
                     Shutdown ekf, navsat, tf
                     Compass pointing to west
10
                     Launch ekf, navsat, tf
12

This route is a 8x8 square meters course 3 times, first north, second west, then south and finally east. Square route according to the right-hand rule. https://www.dropbox.com/s/2fyeh3k06qo...

This is the launch file:

<!-- Ekf -->
<launch>

   <param name="/use_sim_time" value="true" />
   <node pkg="rosbag" type="play" name="rosbagplay" args="/home/jorge_j/example.bag  --clock -d 3" required="true"/>

   <node pkg="tf2_ros" type="static_transform_publisher" name="bl_imu" args="0.0 0.0 0.0 0.0 0.0 0.0 1.0 base_link compass" /> 
   <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true">

       <param name="frequency" value="30"/>
       <param name="sensor_timeout" value="0.1"/>
       <param name="two_d_mode" value="true"/>

       <param name="map_frame" value="map"/>
       <param name="odom_frame" value="odom"/>
       <param name="base_link_frame" value="base_link"/>
       <param name="world_frame" value="odom"/>

       <param name="transform_time_offset" value="0.0"/>

       <param name="odom0" value="/odometry/gps"/>
       <param name="imu0" value="/compass/data"/>

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

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

       <param name="odom0_differential" value="false"/>
       <param name="imu0_differential" value="false"/>

       <param name="odom0_relative" value="false"/>
       <param name="imu0_relative" value="false"/>

       <param name="imu0_remove_gravitational_acceleration" value="true"/>

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

       <param name="odom0_queue_size" value="10"/>
       <param name="imu0_queue_size" value="10"/>

       <param name="debug"           value="false"/>
       <param name="debug_out_file"  value="debug_ekf_localization.txt"/>

         <rosparam param="process_noise_covariance">[0.05, 0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                     0,    0.05, 0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                     0,    0,    0.06, 0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                     0,    0,    0,    0.03, 0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                     0,    0,    0,    0,    0.03, 0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                                     0,    0 ...