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Evaluator scripts

Bailey Andrew requested to merge evaluator_scripts into master

Uses messages introduced in current eufs_msgs merge request https://gitlab.com/eufs/eufs_msgs/-/merge_requests/16

This branch introduces 2 new nodes, one which reports EKF errors w/respect to ground truth, and another which does the same for FastSLAM.

This is based on the Trello card https://trello.com/c/yZzWmQzz/487-methods-for-evaluating-localisation

We found that we had to mess with the Launcher a bit to get it to work - in doing so we fixed a few bugs and factored out a lot of unneccessary code (now, there is a yaml file that parameterizes the Launcher settings; this makes it easy to quickly try out different scripts and configurations, a feature which we made use of when testing this branch). The precise changes we made to the launcher are documented in the checklist for this Trello card; https://trello.com/c/14dbTccb/528-update-eufslauncher-to-accommodate-fastslam-configs

How to test if it works;

Simply launch a track from the launcher. Two new topics should be published, ekf/evaluation and slam/evaluation. These won't work unless you are using the eufs_msgs branch that is pending merge. If the launcher works, and the topics publish, then it is working as intended.

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