Add Hector SLAM, LaMa and mbf

[FlorGrosso]

Description

This PR adds:

1. Hector SLAM as a new mapping package. It enables:

• Mapping using hector SLAM and saving the map with the map server.
• Mapping using hector SLAM and saving the map with hector geotiff.

2. Large Maps Framework (LaMa) as a new localization package.

3. move base flex as a navigation alternative to move base.

Note: this PR also includes the latest work from @eborghi10 on Hardware updates and Square Test.

Type of change

• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)
• This change requires a documentation update

How Has This Been Tested?

1. Hector SLAM

A) Hector + Map server

export LOCALIZATION=hector_mapping
export RVIZ=true
export LASER=rplidar
roslaunch ca_gazebo create_house.launch

On another console:

roslaunch ca_tools keyboard_teleop.launch

Map the environment and when finished, save the map:

rosrun map_server map_saver -f hector_house

B) Hector + geotiff

export LOCALIZATION=hector_geotiff
export RVIZ=true
export LASER=rplidar
roslaunch ca_gazebo create_house.launch

On another console:

roslaunch ca_tools keyboard_teleop.launch

Map the environment and when finished, save the map:

roslaunch ca_hector geotiff_map_saver.launch

This will store it under ca_hector/maps with the name _ts.tif and _ts.tfw, where is the name of the environment mapped ('house' in this case).

C) Repeated A) and B) sending navigation goals to the robot instead of using teleop.

2. LaMa

export LOCALIZATION=lama
export RVIZ=true
export LASER=rplidar
roslaunch ca_gazebo create_house.launch

Using rviz, test navigation and localization.

3. Move Base Flex

A) Regressions
Check that move base is the navigation option by default

export LOCALIZATION=amcl
export RVIZ=true
export LASER=rplidar
roslaunch ca_gazebo create_house.launch

B) New feature

export LOCALIZATION=amcl
export RVIZ=true
export LASER=rplidar
export NAVIGATION=mbf
roslaunch ca_gazebo create_house.launch

Using rviz, test that the robot can navigate when sending a goal to create1/move_base_simple/goal.

Note: test using different local and global planners, configuring them through env variables.

Test Configuration:

• Gazebo simulation

Checklist:

• My code follows the style guidelines of this project (Travis CI is passing)
• I have performed a self-review of my own code
• I have commented my code, particularly in hard-to-understand areas
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• New and existing unit tests pass locally with my changes