Adapted to new landmarks localization initialpose topic

config/adc_common/adc_global_ekf_odom_imu_amcl.yaml

@@ -9,7 +9,7 @@ use_control: true
 control_config: [true, true, false, false, false, true]
 
 
-publish_tf: true
+publish_tf: false
 map_frame: map
 odom_frame: adc_car/odom
 base_link_frame: adc_car/base_footprint

launch/adc_global_localization.launch

@@ -76,7 +76,8 @@
       <arg name="launch_prefix"              value="$(arg launch_prefix)"/>
       <arg name="config_file"                value="$(arg landmarks_config_dir)/$(arg landmarks_config_file)"/>
       <arg name="landmarks_map_file"         value="$(arg landmarks_data_dir)/$(arg landmarks_file)"/>
-      <arg name="estimated_pose_topic_name"  value="/$(arg car_name)/initialpose"/>
+      <arg name="estimated_pose_topic_name"  value="/$(arg car_name)/estimated_pose"/>
+      <arg name="initialpose_topic_name"  value="/$(arg car_name)/initialpose"/>
       <arg name="features_topic_name"        value="/$(arg car_name)/iri_adc_tag_localization_filter/features"/>
     </include>