Configure localization node to work with Swervi

[VAM7686]

Currently, we use the robot_localization package for state estimation. We use the ekf_localization_node and launch it with specific configuration settings. However, the current settings are configured to work with Jessi, our past differential drive robot. With Swervi we will need to create a new configuration for the localization node given that Swervi is an omni-directional robot.

AC: New localization node configuration for Swervi.