remove unused IMU from FUNMAP

The FUNMAP mapping launch file started IMU nodes that were
unused, produced warnings, and created a problematic tf tree.
With this commit, mapping.launch no longer starts these nodes.
Mapping and navigation continued to function in a brief test
and the IMU related warnings were no longer produced.

I used the following command for testing.

$ roslaunch stretch_funmap mapping.launch

stretch_funmap/launch/mapping.launch

@@ -28,14 +28,6 @@
   </node>
   <!-- -->
 
-  <!-- IMU FILTER -->
-  <include file="$(find stretch_core)/launch/imu_filter.launch" />
-  <!-- -->
-
-  <!-- ROBOT LOCALIZATION FILTER -->
-  <include file="$(find stretch_core)/launch/stretch_ekf.launch" />
-  <!-- -->
-
   <!-- LASER RANGE FINDER -->
   <include file="$(find stretch_core)/launch/rplidar.launch" />
   <!-- -->

stretch_funmap/rviz/stretch_mapping.rviz

@@ -3,12 +3,9 @@ Panels:
     Help Height: 78
     Name: Displays
     Property Tree Widget:
-      Expanded:
-        - /Head Imu1/Box properties1
-        - /Head Imu1/Axes properties1
-        - /Head Imu1/Acceleration properties1
+      Expanded: ~
       Splitter Ratio: 0.5
-    Tree Height: 728
+    Tree Height: 719
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -27,7 +24,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: ""
+    SyncSource: PointCloud2
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -164,20 +161,35 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        link_dry_erase_holder:
+        link_grasp_center:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        link_gripper:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_gripper_finger_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_gripper_finger_right:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_dry_erase_marker:
+        link_gripper_fingertip_left:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_dry_erase_tip:
+        link_gripper_fingertip_right:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+          Value: true
         link_head:
           Alpha: 1
           Show Axes: false
@@ -233,7 +245,7 @@ Visualization Manager:
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
         Max Value: 1.1299999952316284
-        Min Value: -0.017480315640568733
+        Min Value: -0.05000000074505806
         Value: true
       Axis: Z
       Channel Name: intensity
@@ -244,9 +256,7 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 4096
       Min Color: 0; 0; 0
-      Min Intensity: 0
       Name: PointCloud2
       Position Transformer: XYZ
       Queue Size: 10
@@ -274,9 +284,7 @@ Visualization Manager:
       Enabled: false
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 47
       Min Color: 0; 0; 0
-      Min Intensity: 47
       Name: LaserScan
       Position Transformer: XYZ
       Queue Size: 10
@@ -298,6 +306,7 @@ Visualization Manager:
       Head Length: 0.05000000074505806
       Head Radius: 0.05000000074505806
       Name: Pose
+      Queue Size: 10
       Shaft Length: 0.20000000298023224
       Shaft Radius: 0.02500000037252903
       Shape: Arrow
@@ -351,9 +360,7 @@ Visualization Manager:
       Enabled: false
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 4096
       Min Color: 0; 0; 0
-      Min Intensity: 0
       Name: PointCloud2
       Position Transformer: XYZ
       Queue Size: 10
@@ -366,52 +373,6 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: false
-    - Acceleration properties:
-        Acc. vector alpha: 1
-        Acc. vector color: 0; 255; 0
-        Acc. vector scale: 0.019999999552965164
-        Derotate acceleration: false
-        Enable acceleration: true
-      Axes properties:
-        Axes scale: 1
-        Enable axes: false
-      Box properties:
-        Box alpha: 1
-        Box color: 255; 0; 0
-        Enable box: false
-        x_scale: 1
-        y_scale: 1
-        z_scale: 1
-      Class: rviz_imu_plugin/Imu
-      Enabled: false
-      Name: Head Imu
-      Topic: /camera/accel/sample_corrected
-      Unreliable: false
-      Value: false
-      fixed_frame_orientation: false
-    - Acceleration properties:
-        Acc. vector alpha: 1
-        Acc. vector color: 255; 0; 0
-        Acc. vector scale: 1
-        Derotate acceleration: true
-        Enable acceleration: false
-      Axes properties:
-        Axes scale: 1
-        Enable axes: true
-      Box properties:
-        Box alpha: 1
-        Box color: 255; 0; 0
-        Enable box: false
-        x_scale: 1
-        y_scale: 1
-        z_scale: 1
-      Class: rviz_imu_plugin/Imu
-      Enabled: false
-      Name: Imu
-      Topic: /imu/data
-      Unreliable: false
-      Value: false
-      fixed_frame_orientation: true
     - Angle Tolerance: 0.009999999776482582
       Class: rviz/Odometry
       Covariance:
@@ -433,6 +394,7 @@ Visualization Manager:
       Keep: 1
       Name: Odometry
       Position Tolerance: 0.009999999776482582
+      Queue Size: 10
       Shape:
         Alpha: 1
         Axes Length: 1
@@ -480,6 +442,7 @@ Visualization Manager:
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
+      Field of View: 0.7853981852531433
       Focal Point:
         X: 0.03590206056833267
         Y: 0.04569293558597565
@@ -489,18 +452,17 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.5947966575622559
+      Pitch: 0.7347964644432068
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 6.266298294067383
+      Yaw: 6.241297721862793
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1025
+  Height: 1016
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001c200000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005750000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001c20000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005700000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -509,6 +471,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1853
-  X: 67
+  Width: 1848
+  X: 72
   Y: 27