Implement AMCL

[wraftus]

🚀 Feature Request

We want to be able to figure out where we are on our map based on point cloud data from ZEDs, and AMCL seems to be the way to do this

This takes in a map and laser scan as inputs:

• [x] Convert ZED Depth Image to Laser Scan #68
• [ ] Read/Load in map of field #27