NDT 3D demo

[Fernando-Sanz]

Proposed changes

Add simple demo with Beluga using NDT 3D in localization process.

ndt.mp4

Type of change

• 🐛 Bugfix (change which fixes an issue)
• 🚀 Feature (change which adds functionality)
• 📚 Documentation (change which fixes or extends documentation)

Checklist

• Lint and unit tests (if any) pass locally with my changes
• I have added tests that prove my fix is effective or that my feature works
• I have added necessary documentation (if appropriate)
• All commits have been signed for DCO

[ivanpauno]

maybe you can use https://github.com/ekumenlabs/kobuki_ros2_stack/blob/main/bringup/gonbuki_bringup_common/launch/bringup_launch.py and don't include many of the nodes here (teleop, rviz, simulation, spawn)

[hidmic]

First pass

[hidmic]

@Fernando-Sanz meta: hmm, I'm not super fond of (re)using beluga_example here. It's a leaf package we don't release and we are making use of utility launch files that could go away the next refactor.

[hidmic]

@Fernando-Sanz FYI the local simulation in this repository should cover your use case. Same world, same robot.

[Fernando-Sanz]

I've used the launch file in gonbuki_bringup_simulation_stack, is that the file you are referring to?

[hidmic]

I mean the beluga_demo_gazebo stack in this very same repository. Just FYI.

[ivanpauno]

IMO, using gonbuki_bringup_simulation_stack sounds like a good idea.
We're using that robot for this demo anyway.

[hidmic]

Going to test this next.

[hidmic]

@Fernando-Sanz nit: dates need an update, I think. Here and elsewhere in this patch.