Add AMCL implementation for ROS #327
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Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
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Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
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Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
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### Proposed changes Builds on top of #327 to use the new range-based API through the `Amcl` class. This also refactors the initialization and publishing logic a bit. The code in the ROS 1 and ROS 2 implementations is more similar now. Related to #279. #### Type of change - [ ] 馃悰 Bugfix (change which fixes an issue) - [x] 馃殌 Feature (change which adds functionality) - [ ] 馃摎 Documentation (change which fixes or extends documentation) 馃挜 **Breaking change!** This removes mixins from all user-facing implementations. ### Checklist - [x] Lint and unit tests (if any) pass locally with my changes - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have added necessary documentation (if appropriate) - [x] All commits have been signed for [DCO](https://developercertificate.org/) --------- Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
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Proposed changes
Wrapping up #279 work, this patch provides an implementation of the AMCL algorithm ready to work with ROS types.
The interface was tailored to beluga_amcl's needs, and that's why it is probably not ready to be part of beluga core just yet.
This also removes the beluga_amcl dependency from beluga_system_tests.
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