Clean up and only using default.xml

Change-Id: I401852922defd01e0136189f66fd283dbed229e1
Add default manifest

Change-Id: I86c5f1ba211f099ac8bd7af16ab13762fa83b56d
Add ros layer

Change-Id: I714ec9c428e32c0273fe255d6dd4868a1c7d115d