feat(ekf_localizer): allow multi sensor input (autowarefoundation#380)

Signed-off-by: kminoda <koji.m.minoda@gmail.com>

localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml

@@ -3,7 +3,7 @@
   <include file="$(find-pkg-share ekf_localizer)/launch/ekf_localizer.launch.xml">
     <arg name="enable_yaw_bias_estimation" value="False"/>
     <arg name="tf_rate" value="50.0"/>
-    <arg name="twist_rate" value="25.0"/>
+    <arg name="twist_smoothing_steps" value="2"/>
     <arg name="input_initial_pose_name" value="/initialpose3d"/>
 
     <arg name="input_pose_with_cov_name" value="/localization/pose_estimator/pose_with_covariance"/>
@@ -16,8 +16,6 @@
     <arg name="output_twist_name" value="twist"/>
     <arg name="output_twist_with_covariance_name" value="twist_with_covariance"/>
 
-    <arg name="twist_stddev_wz" value="0.003 "/>
-
     <arg name="proc_stddev_vx_c" value="10.0"/>
     <arg name="proc_stddev_wz_c" value="5.0"/>
   </include>