Adjust parameters for state estimation node
Description
This MR adjusts the parameters for the state estimation node to make it more robust.
Related to #505 (closed)
Notes for Reviewer
This is still based mostly on feelings. When we know the real environment, we could have a test that we could run multiple times picking the proper parameters in a grid search fashion.
The idea behind this change is to relax the measurement certainty as well as increase the Mahalanobis threshold.
Checklist
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Documentation was updated