Exercise Section 4

Copy the launch file from Exercise 2. Rename and remove the husky_hl_ctrl node. Launch and check /ekf_localization.
```
roslaunch husky.launch
# in a new console
rosnode info /ekf_localization
rosrun rqt_graph rqt_graph
```
rqt_multiplot
```
# install if needed
sudo apt-get install ros-kinetic-rqt-multiplot
```
```
rosrun rqt_multiplot rqt_multiplot
```
Configure the plugin as following (ref):
Then navigate husky and see the change on rqt_multiplot
Download husky_navigation.bag and check with rosbag info
Create a new ekf_localization.launch file (refer to $(find husky_control)/launch/control.launch)
- load husky model
- add ekf_localization_node
- add robot_state_publisher node
- add rqt_multiplot
- add rviz
- launch and plot rosbag information
```
roslaunch ekf_localization.launch
# in a new console
rosbag play [.bag] --clock
```
- Configure RViz to visualize LiDAR data