chores(ekf_localizer): move parameters to its dedicated yaml file

Signed-off-by: Vincent Richard <richard-v@macnica.co.jp>

autoware_launch/config/localization/ekf_localizer.param.yaml

@@ -0,0 +1,23 @@
+/**:
+  ros__parameters:
+    show_debug_info: false
+    enable_yaw_bias_estimation: True
+    predict_frequency: 50.0
+    tf_rate: 50.0
+    extend_state_step: 50
+
+    # for Pose measurement
+    pose_additional_delay: 0.0
+    pose_measure_uncertainty_time: 0.01
+    pose_smoothing_steps: 5
+    pose_gate_dist: 10000.0
+
+    # for twist measurement
+    twist_additional_delay: 0.0
+    twist_smoothing_steps: 2
+    twist_gate_dist: 10000.0
+
+    # for process model
+    proc_stddev_yaw_c: 0.005
+    proc_stddev_vx_c: 10.0
+    proc_stddev_wz_c: 5.0

autoware_launch/launch/components/tier4_localization_component.launch.xml

@@ -9,5 +9,6 @@
     <arg name="random_downsample_filter_param_path" value="$(find-pkg-share autoware_launch)/config/localization/random_downsample_filter.param.yaml"/>
     <arg name="ndt_scan_matcher_param_path" value="$(find-pkg-share autoware_launch)/config/localization/ndt_scan_matcher.param.yaml"/>
     <arg name="localization_error_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/localization/localization_error_monitor.param.yaml"/>
+    <arg name="ekf_localizer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/ekf_localizer.param.yaml"/>
   </include>
 </launch>