Navigation launch, remap localization set_pose and update rviz

launch/adc_sim_navigation.launch

@@ -50,6 +50,7 @@
   <include file="$(find iri_model_car_rosnav)/launch/include/localization.launch">
     <arg name="name"                    value="$(arg name)"/>
     <arg name="global_ekf_config_file"  value="$(find iri_adc_launch)/config/adc_car_global_ekf.yaml"/>
+    <arg name="set_pose_topic"          value="/$(arg name)/initialpose"/>
   </include>
 
   <param name="/$(arg name)/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(arg opendrive_file_path)/$(arg opendrive_file_name).xodr" />

rviz/nav.rviz

@@ -774,7 +774,7 @@ Visualization Manager:
     - Class: rviz/Measure
     - Class: rviz/SetInitialPose
       Theta std deviation: 0.2617993950843811
-      Topic: /adc_car/global_ekf/set_pose
+      Topic: /adc_car/initialpose
       X std deviation: 0.5
       Y std deviation: 0.5
     - Class: rviz/SetGoal
@@ -786,7 +786,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 31.713680267333984
+      Distance: 27.908039093017578
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -827,4 +827,4 @@ Window Geometry:
     collapsed: false
   Width: 1373
   X: 67
-  Y: 27
+  Y: 0