Parameterization of unset covariances #1
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Basically removed tags from launch file, created a params directory which has all of the parameters in it. There were weird indentations in the code due to comment spacing, this was fixed.
Parameterized the unset values covariances which the sensor does not provide us. These are set via the params in params directory. Make sure to set as doubles otherwise you will get an assert fail due to RPC parsing.