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Add state estimation node

Igor Bogoslavskyi requested to merge (removed):389-state-estimator into master

Description

This is a node that performs state estimation. For now it only works with the constant acceleration motion model but it is designed to be extensible in the future to support dynamic selection of the motion model from the ROS parameters.

Notes for Reviewer

I might have missed a couple of small issues here and there, mostly because this MR has grown quite a bit, I'm sorry about that.

Related issues

Closes #389 (closed)

Checklist

  • Documentation was updated
Edited by Igor Bogoslavskyi

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