Refactor resampling policies into filter update control

[glpuga]

Proposed changes

• For the time being gives up on the hope to find a meaningful overarching common interface between different filter update policies from the available three samples, and instead deal with all three as one-offs.
• Relocates the previous PolicyPoller and the three policies into beluga_amcl, since their design is strongly influenced by us trying to replicate Nav2's behavior.
• Rewrites the poller into a broader FilterUpdateControlMixin class that encapsulates Nav2's filter update behavior.
• Adds a customization point to the main filter aggregated classes, allowing the user to add a mixin to customize the filter behavior an interface. Uses that to roll FilterUpdateControlMixin into the filter in beluga_amcl.
• Refactors the transform and pose publication behaviors in beluga_amcl, since they did not match Nav2's and the latter's behavior is very related to the filter control policies above.

I still think the three policies (not the FilterUpdateControlMixin) can eventually go back into the main beluga library, but I don't think forcing a common abstraction on them will be meaningful.

Type of change

• 🐛 Bugfix (change which fixes an issue)
• 🚀 Feature (change which adds functionality)
• 📚 Documentation (change which fixes or extends documentation)

💥 Breaking change! Explain why a non-backwards compatible change is necessary or remove this line entirely if not applicable.

Checklist

Put an x in the boxes that apply. This is simply a reminder of what we will require before merging your code.

• Lint and unit tests (if any) pass locally with my changes
• I have added tests that prove my fix is effective or that my feature works
• I have added necessary documentation (if appropriate)
• All commits have been signed for DCO

Additional comments

Preliminary performance comparison with Nav2 looks now much better. Beam model, Beluga vs. Nav2 AMCL:

Likelihood model, Beluga vs. Nav2 AMCL:

[nahueespinosa]

LGTM!

[hidmic]

Looks like tests migrating from beluga to beluga_amcl reduced marginally reduced beluga coverage.

[glpuga]

Looks like tests migrating from beluga to beluga_amcl reduced marginally reduced beluga coverage.

Indeed. The format tests in the new package require to spread a long line into multiple lines, and therefore reduced the coverage as measured by the line count.