wip: Make mapper node independent of the localization node
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
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Documentation was updated
Edited by Igor Bogoslavskyi