bestpos  -> representa a informação proveniente do tópico bestpos (GPS+INS).
    bestgnsspos  -> representa a informação proveniente do tópico bestgnsspos (GPS).
    global_planning -> representa informação relativa à navegação global. (tópicos /waypoints_*** mais informações no *package* global_planning ).

<launch>
    <env name="ROSCONSOLE_FORMAT" value="[${thread}] [${node}/${function}:${line}]: ${message}"/>
    <node pkg="mapviz" type="mapviz" name="$(anon mapviz)" required="true" output="log"/>
    <node pkg="rosapi" type="rosapi_node" name="rosapi"/>
</launch>

roslaunch mapviz mapviz.launch

Fixed frame: map

Target frame: base_link_imu

    <node pkg="swri_transform_util" type="imu_transform_publisher" name="imu_transform_publisher" output="screen"/>

  <node pkg="tf" type="static_transform_publisher" name="swri_transform" args="0 0 0 0 0 0 /world /map 100" />

    <node pkg="swri_transform_util" type="initialize_origin.py" name="initialize_origin" output="screen">
        <param name="local_xy_frame" value="/world"/>
        <param name="local_xy_origin" value="auto"/>
        <!-- "auto" setting will set the origin to the first gps fix that it recieves -->
        <remap from="gps" to="/gps/fix"/>
    </node>

Topic: /destination
Frame: /wgs84