Different allie tracking strategy for dynamic obstacle

By subscribing to the odometry of the allie, we can get the position of 
the allie relative to its odom frame. 
With the odom->map transform, we can have these coordinates in the map 
frame. 
Then we can set the allie dynamic obstacle by the same way as for 
ennemies.
Cooldown of 0.3s between each update of allie dynamic obstacle

src/navigation/teb_obstacles/teb_obstacles/teb_obstacles.py

@@ -9,7 +9,8 @@
 
 from rclpy.node import Node
 from costmap_converter_msgs.msg import ObstacleArrayMsg, ObstacleMsg
-from visualization_msgs.msg import MarkerArray
+from visualization_msgs.msg import MarkerArray, Marker
+from nav_msgs.msg import Odometry
 from geometry_msgs.msg import Point32
 from platform import machine
 from transformix_msgs.srv import TransformixParametersTransformStamped
@@ -25,7 +26,7 @@ def __init__(self):
         self.get_allie_odom_transformation()
 
         self.allies_subscription_ = self.create_subscription(
-            MarkerArray, '/allies_positions_markers', self.allies_subscription_callback, 10)
+            Odometry, f'/{self.allie}/odom', self.allies_subscription_callback, 10)
         self.ennemies_subscription_ = self.create_subscription(
             MarkerArray, '/ennemies_positions_markers', self.ennemies_subscription_callback, 10)
         self.allies_subscription_
@@ -34,6 +35,9 @@ def __init__(self):
         self.obstacles_publisher_ = self.create_publisher(ObstacleArrayMsg, 'obstacles', 10)
 
         self.dictionary_index_id = {"0":0, "1":0, "2":0}
+
+        self.last_time_allie_callback = self.get_clock().now().to_msg()
+
         self.initObstaclesArray()
 
         self.create_timer(0.5, self.send_obstacles)
@@ -96,14 +100,17 @@ def set_obstacle(self, index, marker):
 
 
     def allies_subscription_callback(self, msg):
-        """Identity the allie marker in assurancetourix marker_array detection
+        """Determine the pose of base_link in map
            set the dynamic obstacle for teb_local_planner"""
-        for allie_marker in msg.markers:
-            if allie_marker.text.lower() == self.allie:
-                if self.dictionary_index_id["0"] == 0:
-                    self.dictionary_index_id["0"] = allie_marker.id
-                    self.obstacles.obstacles[0].id = self.dictionary_index_id["0"]
-                self.set_obstacle(0, allie_marker)
+        if self.get_diff_time(self.get_clock().now().to_msg(), self.last_time_allie_callback) > 0.3:
+            pose = msg.pose.pose
+            x = pose.position.x + self.odom_map_tf.transform.translation.x
+            y = pose.position.y + self.odom_map_tf.transform.translation.y
+            tmp_marker = Marker()
+            tmp_marker.pose.position.x = x
+            tmp_marker.pose.position.y = y
+            self.set_obstacle(0, tmp_marker)
+            self.last_time_allie_callback = self.get_clock().now().to_msg()
 
     def ennemies_subscription_callback(self, msg):
         """Identity the ennemie marker in assurancetourix marker_array detection