If your URL structure is valid and correct, all you need then is the default loop.
The main query runs on each and every page request, and the parameters passed to WP_Query ( yes, the main query also uses WP_Query) is determined by the URL and rewrite rules for that specific page. If your URL structure is a valid structure and matches a true page request for a taxonomy term page, then the posts returned by main query should match and all be in the specific term requested via the URL.
I have done a post on when to use custom queries and when not, you can go read that post here. This is very important to know, and I cannot stres this enough, never ever use custom queries in place of the main query on the home page and any type of archive page. Custom queries are not just ineffecient when use instead of the main query, but it breaks page functuionality.
To wrap up, the only code you need in your taxonomy template is the following
if ( have_posts() ) {
while ( have_posts() ) {
the_post();
// Your template tags and markup like
the_title();
}
}