Map creation via USV lidar

[bsb808]

As part of developing a lidar navigation capability, we need to be able to use gmapping to build a map, based on the USV lidar.

• Here is how we did this in the lab, using the turtlebot3: https://wiki.nps.edu/pages/viewpage.action?pageId=1008861373

[bsb808]

The working example of the turtlebot3 is a good place to start. Once @keegandelanoy has the keydrive teleoperation working, we should be able to start working toward a similar example with the USV.

Take a look at the operation of the gmapping package: http://wiki.ros.org/gmapping One challenge is that there needs to be an odometry solution. In the turtlebot3 example, this is provided by gazebo as part of the tf tree (see the wiki example above for the tf tree visualization). We would need a similar way of providing the odometry to the gmapping node.