Test MSF with current Pose and Imu messages about rotors_simulator HOT 1 CLOSED

<launch>
  <node name="msf" pkg="msf_updates" type="pose_sensor" clear_params="true" output="screen">
    <remap from="msf_updates/pose_with_covariance_input" to="/firefly/sensor_pose" />
    <remap from="msf_core/imu_state_input" to="/firefly/imu" />
    <rosparam file="$(find mav_startup)/parameters/mavs/hummy_2/simulator_msf.yaml"/>
    <param name="capability_group" value="Core"></param>
  </node>
</launch>

scale_init: 1
data_playback: true

core/fixed_bias: 0

#########IMU PARAMETERS#######
####### bluebird
core/core_noise_acc: 0.083
core/core_noise_accbias: 0.0083
core/core_noise_gyr: 0.0013
core/core_noise_gyrbias: 0.00013
####### ADIS
core/noise_acc: 0.002
core/noise_accbias: 8e-5
core/noise_gyr: 0.0004
core/noise_gyrbias: 3e-6

pose_sensor/fixed_scale: 1
pose_sensor/pose_noise_scale: 0.0
pose_sensor/pose_noise_p_wv: 0.0
pose_sensor/pose_noise_q_wv: 0.0
pose_sensor/pose_noise_q_ic: 0.0
pose_sensor/pose_noise_p_ic: 0.0
pose_sensor/pose_delay: 0.002
pose_sensor/pose_noise_meas_p: 0.005
pose_sensor/pose_noise_meas_q: 0.005

pose_sensor/init/q_ic/w: 1.0
pose_sensor/init/q_ic/x: 0.0
pose_sensor/init/q_ic/y: 0.0
pose_sensor/init/q_ic/z: 0.0
pose_sensor/init/p_ic/x: 0.0
pose_sensor/init/p_ic/y: 0.0
pose_sensor/init/p_ic/z: 0.0

pose_sensor/pose_fixed_scale: true
pose_sensor/pose_fixed_p_ic: true
pose_sensor/pose_fixed_q_ic: true
pose_sensor/pose_fixed_p_wv: true
pose_sensor/pose_fixed_q_wv: true

pose_sensor/pose_absolute_measurements: true
pose_sensor/pose_use_fixed_covariance: true
pose_sensor/pose_measurement_world_sensor: true  # selects if sensor measures its position w.r.t. world (true, e.g. Vicon) or the position of the world coordinate system w.r.t. the sensor (false, e.g. ethzasl_ptam