use odom_combined in robot_localazation

edit

[picture A]

Please Click https://photos.app.goo.gl/2CGtfb9PqSj...

[picture B]

Please Click https://photos.app.goo.gl/takSsKQp5PB...

Hi guys, I am trying to migrate from robot_pose_ekf to robot_localazation. picture B is on robot_pose_ekf on ros kinetic and picture A is robot_localization in ros noetic. also I have attached my launch file from ros noetic is there any advice about how can i modify picture A to picture B?

I am using ubuntu 20.04 server

<launch>
  <arg name="custom_param_file" default="$(find mini_turty3)/param/dummy.yaml"/>


    <node pkg="tf" type="static_transform_publisher" name="map_to_odom_combined_broadcaster" args="-0.0 0.0 0.0 0.0 0.0 0.0 map odom_combined 100" /> 


<!-- JJ - add IMU -->
  <node pkg="minimu9-ahrs" type="minimu9-ahrs-ros" name="minimu9" output="screen">
    <param name="enable_odom_transform" value="0"/>
  </node>

    <node pkg="robot_localization" type="ekf_localization_node" name="robot_pose_ekf" output="screen">
    <param name="output_frame" value="odom_combined"/>
    <param name="freq" value="30.0"/>
    <param name="sensor_timeout" value="1.0"/>
    <param name="odom_used" value="true"/>
    <param name="imu_used" value="true"/>
    <param name="vo_used" value="false"/>
    <param name="debug" value="false"/>
    <param name="self_diagnose" value="false"/>

    <!-- <remap from="imu_data" to="imu"/> -->
  </node>

  <!-- JJ - add EKF -->



<!-- JJ - add mini-turty robot model, state publishers -->
  <arg name="model" />
  <arg name="gui" default="False" />
<!--  <param name="robot_description" textfile="$(find mini_turty3)/launch/mini_turty.urdf" /> -->
  <param name="robot_description" textfile="$(find mini_turty3)/launch/test.urdf" /> 
  <param name="use_gui" value="$(arg gui)"/>
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" ></node>

<!-- JJ - add some scanner params initialization -->
  <remap from="cmd_vel" to="/navigation_velocity_smoother/raw_cmd_vel"/>

<!-- JJ - add lidar -->
  <node name="ydlidar_node"  pkg="ydlidar_ros"  type="ydlidar_node" output="screen">
    <param name="port"         type="string" value="/dev/ttyS0"/>
    <!--<param name="baudrate"     type="int"    value="230400"/> -->
    <param name="baudrate"     type="int"    value="230400"/>
<!-- JJ - changed to match what we've got in the urdf (base_laser)!
    <param name="frame_id"     type="string" value="laser_frame"/> -->
    <param name="frame_id"     type="string" value="base_laser"/>
    <param name="angle_fixed"  type="bool"   value="true"/>
    <param name="low_exposure"  type="bool"   value="false"/>
    <param name="heartbeat"    type="bool"   value="false"/>
    <param name="resolution_fixed"    type="bool"   value="true"/>
    <param name="angle_min"    type="double" value="-180" />
    <param name="angle_max"    type="double" value="180" />
    <param name="range_min"    type="double" value="0.08" />
    <param name="range_max"    type="double" value="16.0" />
    <param name="ignore_array" type="string" value="" />
    <param name="samp_rate"    type="int"    value="9"/>
    <param name="frequency"    type="double" value="7"/>
  </node>

  <!-- Map server -->
  <arg name="map_file" default="$(env MINI_TURTY_MAP_FILE)"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

  <arg name="initial_pose_x" default="0.0"/>-- Use 17.0 for willow's map in simulation -->
  <arg name="initial_pose_y" default="0.0 ...