sim.launch: disabled fake_odometry, replaced with static transform

seat_car_description/launch/spawn_car.launch

@@ -43,7 +43,9 @@
     <remap from="/model_car/twist"
              to="/twist"/>
     <remap from="/model_car/yaw"
-             to="/yaw"/>-->
+             to="/yaw"/>
+    <remap from="~odom"
+             to="/odom"/>
   </node>
   
   <node name="imu_filter"
@@ -93,11 +95,11 @@
   
   <group unless="$(arg fake_localization)">
 
-    <!--
+
     <node name="$(arg name)_static_tf_map_odom" pkg="tf" type="static_transform_publisher"
-          args="$(arg x) $(arg y) 0.04 $(arg yaw) 0 0 $(arg map_frame) $(arg odom_frame) 100">
+          args="0 0 0.04 0 0 0 $(arg map_frame) $(arg odom_frame) 100">
     </node>
-    -->
+    
 
   </group>
 

seat_car_gazebo/launch/sim.launch

@@ -10,7 +10,7 @@
   <arg name="car_x"    default="0.0"/>
   <arg name="car_y"    default="-0.2"/> <!--CW: -0.2, CCW: 0.2 -->
   <arg name="car_yaw"  default="0.0"/> <!--CW: 0.0, CCW: 3.1416 -->
-  <arg name="fake_localization"  default="true"/>
+  <arg name="fake_localization"  default="false"/>
   <arg name="rviz"       default="true"/>
   <arg name="rviz_file"  default="$(arg name)"/>