Add system level tests for localization

[ivanpauno]

Description

Definition of done

Add system level tests, having them passing should give the same level of "confidence" that a PR is working than manually running an exemple (e.g. the bagfile example).

Additional considerations

Possible system tests to add:

• Use nav2 system tests for localization.
  Maybe contribute to nav2 so they can also be used with other external amcl implementations (?).
• Having a system test in beluga, that reads recorded sensor/odometry/map data and feeds beluga amcl implementation, while checking the estimation is within some conditions.
  The recorded format could be a bagfile:
  • If we want to keep beluga ROS agnostic, we should only compile those if the dependencies are available (i.e. rosbag2)
  • Altarnatively, we can use a ros agnostic rosbag reader.
    That's one is the only one I know, and it's python only, which would make interfacing with a C++ test not that nice.
    Though we could use that to postprocess bagfiles and record that in a format friendly for a pure C++ test (that doesn't have rosbag2 as a dependency).

[ivanpauno]

Use nav2 system tests for localization

After having read those, they aren't really useful.
They're only testing the initial pose feature.

So I think I will create a new one.