Removed the IMu form the global EKF pose estimation.

Updated some parameters of the EKF pose estimation.

launch/include/localization.launch

@@ -13,6 +13,7 @@
         output="screen">
     <rosparam command="load" file="$(arg global_ekf_config_file)" />
     <remap from="odometry/filtered" to="/$(arg name)/global_odom_combined"/>
+    <remap from="set_pose" to="/$(arg name)/global_ekf/set_pose"/>
   </node>
 
 </launch>

params/global_ekf_odom_imu_amcl.yaml

@@ -20,25 +20,25 @@ odom0_config: [false, false, false,
                false, false, true,
                false, false, false]
 
-imu0: /model_car/sensors/imu_enu
-imu0_config: [false, false, false,
-              false, false, true,
-              false, false, false,
-              false, false, true,
-              true,  false, false]
+#imu0: /model_car/sensors/imu_enu
+#imu0_config: [false, false, false,
+#              false, false, false,
+#              false, false, false,
+#              false, false, true,
+#              true,  false, false]
 
-imu0_differential: false
-imu0_relative: false
-imu0_remove_gravitational_acceleration: true
+#imu0_differential: false
+#imu0_relative: true
+#imu0_remove_gravitational_acceleration: true
 
 pose0: /model_car/amcl_pose
-pose0_config: [true, true, false,
+pose0_config: [true,  true,  true,
                false, false, false,
                false, false, false,
                false, false, false,
                false, false, false]
 pose0_differential: false
-#pose0_relative: false
+pose0_relative: false
 #pose0_queue_size: 5
 #pose0_rejection_threshold: 2  # Note the difference in parameter name
 #pose0_nodelay: false