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Implement NDT localizer node

Yunus Emre Çalışkan requested to merge 288-implement-ndt-localizer-node into master

Description

  • For more details, see the issue which will be linked below.

Implements ndt localizer node, its executable and a default sensible config file.

Notes for Reviewer

This version doesn't support configurable optimizers and pose initializers but by default uses the newton optimizer and the best effort initializer. If the reviewer agrees, we will keep things this way and I will open a followup ticket to implement necessary structs to allow full configuration capability from the configuration file. (i.e. via a factory pattern)

Checklist

  • Documentation was updated

Closes #288 (closed)

Edited by Yunus Emre Çalışkan

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