remove unused config parameters

data/armarx_navigation/local_planner_config/TimedElasticBands/default.json

 {
-  "odom_topic": "odom",
-  "map_frame": "odom",
-
   "pse": {
     "pse_costum_obstacle_penalties": true,
     "pse_costum_obstacle_penalties_dynamic": true,
@@ -20,18 +17,12 @@
     "max_samples": 500,
     "global_plan_overwrite_orientation": true,
     "allow_init_with_backwards_motion": false,
-    "global_plan_viapoint_sep": -1,
-    "via_points_ordered": false,
-    "max_global_plan_lookahead_dist": 1,
-    "global_plan_prune_distance": 1,
     "exact_arc_length": false,
     "force_reinit_new_goal_dist": 1,
     "force_reinit_new_goal_angular": 1.5707963267948966,
     "feasibility_check_no_poses": 5,
     "feasibility_check_lookahead_distance": -1,
-    "publish_feedback": false,
-    "min_resolution_collision_check_angular": 3.141592653589793,
-    "control_look_ahead_poses": 1
+    "min_resolution_collision_check_angular": 3.141592653589793
   },
 
   "robot": {
@@ -42,19 +33,11 @@
     "acc_lim_x": 0.5,
     "acc_lim_y": 0.5,
     "acc_lim_theta": 0.5,
-    "min_turning_radius": 0,
-    "wheelbase": 1.0,
-    "cmd_angle_instead_rotvel": false,
-    "is_footprint_dynamic": false,
-    "use_proportional_saturation": false,
-    "transform_tolerance": 0.5
+    "min_turning_radius": 0
   },
 
   "goal_tolerance": {
-    "xy_goal_tolerance": 0.2,
-    "yaw_goal_tolerance": 0.2,
-    "free_goal_vel": false,
-    "complete_global_plan": true
+    "xy_goal_tolerance": 0.2
   },
 
   "obstacles": {
@@ -62,15 +45,8 @@
     "inflation_dist": 0.0,
     "dynamic_obstacle_inflation_dist": 0.6,
     "include_dynamic_obstacles": true,
-    "include_costmap_obstacles": true,
-    "costmap_obstacles_behind_robot_dist": 1.5,
-    "obstacle_poses_affected": 25,
-    "legacy_obstacle_association": false,
     "obstacle_association_force_inclusion_factor": 1.5,
     "obstacle_association_cutoff_factor": 5,
-    "costmap_converter_plugin": "",
-    "costmap_converter_spin_thread": true,
-    "costmap_converter_rate": 5,
     "obstacle_proximity_ratio_max_vel": 1,
     "obstacle_proximity_lower_bound": 0,
     "obstacle_proximity_upper_bound": 0.5
@@ -105,7 +81,6 @@
   },
 
   "hcp": {
-    "enable_homotopy_class_planning": true,
     "enable_multithreading": true,
     "simple_exploration": false,
     "max_number_classes": 5,
@@ -118,7 +93,6 @@
     "selection_dropping_probability": 0.0,
     "switching_blocking_period": 0.0,
 
-    "obstacle_keypoint_offset": 0.1,
     "obstacle_heading_threshold": 0.45,
     "roadmap_graph_no_samples": 20,
     "roadmap_graph_area_width": 10,
@@ -128,21 +102,10 @@
 
     "viapoints_all_candidates": true,
 
-    "visualize_hc_graph": false,
-    "visualize_with_time_as_z_axis_scale": 0.0,
     "delete_detours_backwards": true,
     "detours_orientation_tolerance": 1.5707963267948966,
     "length_start_orientation_vector": 0.4,
     "max_ratio_detours_duration_best_duration": 3.0
-  },
-
-  "recovery": {
-    "shrink_horizon_backup": true,
-    "shrink_horizon_min_duration": 10,
-    "oscillation_recovery": true,
-    "oscillation_v_eps": 0.1,
-    "oscillation_omega_eps": 0.1,
-    "oscillation_recovery_min_duration": 10,
-    "oscillation_filter_duration": 10
   }
+
 }