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wip: Make mapper node independent of the localization node

Igor Bogoslavskyi requested to merge 545-mapper-not-localizer-child into master

Description

This MR is an experiment on how the mapper node would look if it would not be a child of a relative localizer node.

Note that there is some code duplication introduced here as for now the relative localizer node does some mapper-specific things, like handling map updates.

Related to #545 (closed)

Notes for Reviewer

I am not 100% sure about this. I believe that the mapper node should not be a child of the localizer node, but the duplicate code should be handled in some way, which is not handled here yet.

Checklist

  • Documentation was updated
Edited by Igor Bogoslavskyi

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