topological_localization as a stand-alone node

[francescodelduchetto]

Make the topological particle filter localizer into a more general topological_localization node. To be used as a general tool for localising in the topomap (robots, pickers etc.)

• standard interface (ros msg) for sending observations with a covariance, which is independent of the sensor (gps, move_base pose, etc.).
• standard interface for publishing result of localisation under /AGENT_NAME/closest_node, /AGENT_NAME/clurrent_node

[francescodelduchetto]

Problem: how make it work to replace this https://github.com/LCAS/topological_navigation/blob/master/topological_navigation/scripts/localisation.py for robot localisation?

Robot topological localization is non-probabilistic because it just puts the probability to the closest node from the reading comes from metric localization poses observations which are assumed to be accurate already.

One way of making the particle filter non-probabilistic would be to reduce the number of particles to 1, so that it always take the closest node position to the robot.