Clean up launch

Author: Emiliano Borghi

navigation/ca_localization/launch/localize.launch

@@ -14,35 +14,20 @@
     <rosparam command="load" file="$(find ca_localization)/config/ekf_localization.yaml"/>
     <rosparam command="load" file="$(find ca_localization)/config/ekf_odom.yaml"/>
     <rosparam command="load" file="$(find ca_localization)/config/ekf_imu.yaml"/>
-    <!-- <rosparam command="load" file="$(find ca_localization)/config/ekf_scan_matcher.yaml"/> -->
-    <!-- <rosparam command="load" file="$(find ca_localization)/config/ekf_angle.yaml"/> -->
-
-    <!--
-      The filter accepts an arbitrary number of inputs from each input message type
-      (nav_msgs/Odometry, geometry_msgs/PoseWithCovarianceStamped,
-      geometry_msgs/TwistWithCovarianceStamped, sensor_msgs/Imu). To add an input,
-      simply append the next number in the sequence to its "base" name, e.g., odom0, odom1,
-      twist0, twist1, imu0, imu1, imu2, etc. The value should be the topic name.
-      These parameters obviously have no default values, and must be specified.
-     -->
-    <param name="odom0" value="odom"/>
-    <param name="imu0"  value="imu/data"/>
 
     <remap from="odometry/filtered" to="odom_combined"/>
-
-    <param name="odom_frame"      value="odom"/>
-    <param name="base_link_frame" value="base_footprint"/>
-    <param name="world_frame"     value="odom"/>
   </node>
 
-  <!-- <node if="$(arg use_nodelets)"
+  <node if="$(arg use_nodelets)"
         pkg="nodelet" type="nodelet" name="ekf_se" output="screen"
         args="load RobotLocalization/EkfNodelet $(arg nodelet_manager)">
     <rosparam command="load" file="$(find ca_localization)/config/ekf_localization.yaml"/>
+
     <rosparam command="load" file="$(find ca_localization)/config/ekf_odom.yaml"/>
-    <rosparam command="load" file="$(find ca_localization)/config/ekf_angle.yaml"/>
     <rosparam command="load" file="$(find ca_localization)/config/ekf_imu.yaml"/>
-  </node> -->
+
+    <remap from="odometry/filtered" to="odom_combined"/>
+  </node>
 
   <!-- RViz -->
   <arg name="rviz" default="false"/>