Add NDT AMCL node and tests.

[serraramiro1]

Proposed changes

Adds a new node to leverage the NDT sensor model.
Closes #312

Type of change

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

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

[hidmic]

First pass. CI does not look happy.

[serraramiro1]

First pass. CI does not look happy.

Although this is a regression in terms of coverage, I feel like the line coverage looks sane.
Do you mind TAL and providing insight whether the current state is enough or not?

I feel like >90% is good enough for nodes

[hidmic]

Do you mind TAL and providing insight whether the current state is enough or not?

If codecov line coverage report is accurate, a test with non-empty laserscan and a non-empty particle cloud would exercise the missing code paths. You could trick it by de-duplicating code too.

I feel like >90% is good enough for nodes

I'm reluctant to let this one slip.

[hidmic]

LGTM though I still see a sensible decrease in test coverage.

[hidmic]

/home/runner/work/beluga/beluga/beluga_amcl/include/beluga_amcl/ndt_amcl_node.hpp:91: error: Compound beluga_amcl::NdtAmclNode is not documented. (warning treated as error, aborting now)

build-docs job isn't happy :)