Autonomy Sensor Fusion

[Supernova1114]

Get sensor fusion working using ROS 2 Robot Localization package.
https://docs.ros.org/en/melodic/api/robot_localization/html/index.html

Need to fuse GNSS position, GNSS heading, odom output from zed camera (orientation and position).

[Supernova1114]

Wrote a sensor data simulator to publish data for GNSS pos, heading, and a simulated odom output.
Two ekf nodes are configured and a nav_sat_transform node is used.

Map and odom transforms were being published correctly.

Next is to do some tests with real sensors.