Removed old config parameters. Updated rviz config

config/adc_car_control_params.yaml

-rate: 40
-speed_Kp: 20.0
-speed_Ki: 10.0
-speed_Kd: 0.05
-speed_i_max: 20.0
-watchdog_time: 0.5
-axel_distance: 0.3662
-max_steer_angle: 0.4
-min_steer_angle: -0.4
-max_speed_control: 20.0
-min_speed_control: -20.0
-max_steer_control: 100.0
-min_steer_control: -100.0
-

config/adc_car_local_ekf.yaml

-frequency: 30
-sensor_timeout: 1.0
-transform_time_offset: 0.0
-two_d_mode: true
-print_diagnostics: true
-debug: false
-debug_out_file: /tmp/debug_ekf_localization.txt
-use_control: false
-control_config: [true, false, false, false, false, true]
-
-publish_tf: true
-map_frame: map
-odom_frame: adc_car/odom
-base_link_frame: adc_car/base_footprint
-world_frame: adc_car/odom
-
-odom0: /adc_car/odom
-odom0_config: [false, false, false,
-               false, false, false,
-               true,  false, false,
-               false, false, true,
-               false, false, false]
-
-imu0: /adc_car/sensors/imu_enu
-imu0_config: [false, false, false,
-              false, false, true,
-              false, false, false,
-              false, false, true,
-              false,  false, false]
-
-imu0_differential: false
-imu0_relative: true
-imu0_remove_gravitational_acceleration: true
-
-#meaning_config: [x,     y,      z,
-#                 roll,  pitch,  yaw,
-#                 vx,    vy,     vz,
-#                 vroll, vpitch, vyaw,
-#                 ax,    ay,     az]

config/adc_car_mux.yaml

-subscribers:
-  - name:        "Default input"
-    topic:       "/adc_car/default/cmd_vel"
-    timeout:     0.1
-    priority:    0
-    short_desc:  "The default cmd_vel, controllers unaware that we are multiplexing cmd_vel should come here"
-
-  - name:        "Navigation stack"
-    topic:       "/adc_car/navigation/cmd_vel"
-    timeout:     0.5
-    priority:    5
-    short_desc:  "Navigation stack controller"
-
-  - name:        "Teleop"
-    topic:       "/adc_car/teleop/cmd_vel"
-    timeout:     0.1
-    priority:    10
-    short_desc:  "Teleoperation"
-
-publisher:       "/adc_car/cmd_vel"

config/adc_car_odometry_params_no_tf.yaml

-rate: 40
-odom_frame: "adc_car/odom"
-robot_frame: "adc_car/base_footprint"
-encoder_ticks: 60
-wheel_diameter: 0.100
-wheel_distance: 0.216
-axel_distance: 0.3662
-filter_coeff: 0.75
-max_steer_angle: 0.4
-min_steer_angle: -0.4
-max_steer_control: 100.0
-min_steer_control: -100.0
-publish_tf: False
-

config/teleop_config.yaml

-default_vx_max:  0.8
-default_vx_min: -0.8
-default_vw_max:  0.5
-default_vw_min: -0.5
-

rviz/adc_car.rviz

@@ -7,6 +7,9 @@ Panels:
         - /Global Options1
         - /Models1
         - /Sensors1
+        - /Sensors1/Odometry1
+        - /Sensors1/Odometry1/GroundTruth1/Shape1
+        - /Sensors1/Odometry1/FusedOdometry1/Shape1
         - /Sensors1/Odometry1/Odometry1/Shape1
       Splitter Ratio: 0.6352941393852234
     Tree Height: 794
@@ -336,7 +339,7 @@ Visualization Manager:
                 Alpha: 1
                 Axes Length: 1
                 Axes Radius: 0.10000000149011612
-                Color: 0; 0; 255
+                Color: 114; 159; 207
                 Head Length: 0.07000000029802322
                 Head Radius: 0.02500000037252903
                 Shaft Length: 0.25
@@ -345,6 +348,40 @@ Visualization Manager:
               Topic: /adc_car/odom_ground_truth
               Unreliable: false
               Value: true
+            - Angle Tolerance: 0.25
+              Class: rviz/Odometry
+              Covariance:
+                Orientation:
+                  Alpha: 0.5
+                  Color: 255; 255; 127
+                  Color Style: Unique
+                  Frame: Local
+                  Offset: 1
+                  Scale: 1
+                  Value: true
+                Position:
+                  Alpha: 0.30000001192092896
+                  Color: 204; 51; 204
+                  Scale: 1
+                  Value: true
+                Value: false
+              Enabled: true
+              Keep: 1000
+              Name: FusedOdometry
+              Position Tolerance: 0.25
+              Shape:
+                Alpha: 1
+                Axes Length: 1
+                Axes Radius: 0.10000000149011612
+                Color: 252; 233; 79
+                Head Length: 0.07000000029802322
+                Head Radius: 0.02500000037252903
+                Shaft Length: 0.25
+                Shaft Radius: 0.009999999776482582
+                Value: Arrow
+              Topic: /adc_car/local_odom_combined
+              Unreliable: false
+              Value: true
             - Angle Tolerance: 0.25
               Class: rviz/Odometry
               Covariance:
@@ -376,7 +413,7 @@ Visualization Manager:
                 Shaft Length: 0.25
                 Shaft Radius: 0.009999999776482582
                 Value: Arrow
-              Topic: /adc_car/local_odom_combined
+              Topic: /adc_car/odom
               Unreliable: false
               Value: true
           Enabled: true