Redundant publishers in ekf_localizer

[IshitaTakeshi]

I'm seeing ekf_localizer and found that this publishes some redundant topics, that are ekf_pose, ekf_pose_with_covariance, ekf_twist, and ekf_twist_with_covariance. They all can be removed because their messages are already included in ekf_odom.

Also, ekf_pose_without_yawbias and ekf_pose_with_covariance_without_yawbias are redundant. Only publishing ekf_pose_with_covariance_without_yawbias is sufficient.

[kminoda]

Thanks! I agree with your suggestion.

Furthermore, I guess debug/measured_pose and debug topics are not necessary either.
debug/measured_pose is not necessary since /localization/pose_estimator/pose_with_covariance is expected to have the exact same messages (In other words, a set of input poses and a set of poses that are used for EKF update are expected to be the same in the current EKF). A similar argument holds with the debug topic.