Add LaMa

[FlorGrosso]

Description

This PR adds Large Maps Framework (LaMa) as a new localization package.

Type of change

Please delete options that are not relevant.

• [x] New feature (non-breaking change which adds functionality)
• [x] Breaking change (fix or feature that would cause existing functionality to not work as expected)
• [x] This change requires a documentation update

How Has This Been Tested?

Please describe the tests that you ran to verify your changes. Provide instructions so we can reproduce. Also list any relevant details for your test configuration.

export LOCALIZATION=lama
export RVIZ=true
export LASER=rplidar
roslaunch ca_gazebo create_house.launch

Using rviz, test navigation and localization.

Test Configuration:

• [x] Gazebo simulation

Checklist:

• [x] My code follows the style guidelines of this project (Travis CI is passing)
• [x] I have performed a self-review of my own code
• [x] I have commented my code, particularly in hard-to-understand areas
• [ ] I have made corresponding changes to the documentation
• [x] My changes generate no new warnings
• [ ] I have added tests that prove my fix is effective or that my feature works
• [x] New and existing unit tests pass locally with my changes

[eborghi10]

@FlorGrosso can you update the checklist that is in the PR description? I also added a few comments. PTAL.

[FlorGrosso]

Thanks @eborghi10 , comments addressed. I left a small question about the initial pose for the rest of the environment. Could you please take another look? thanks!

[eborghi10]

@FlorGrosso as soon as you address the last comments, I'll approve it!

[FlorGrosso]

@eborghi10 I've added a response to your comment and made an update based on that. Could you please take a look and let me know if you agree? thanks!

[FlorGrosso]

Done @eborghi10 ! Rebased and comments addressed