Use TFInfo to unify TF specifications

[fmrico]

Hi,

This PR is an adaptation to EasyNavigation/EasyNavigation#80 . Of course, test will not pass until it is merged, but I want to present the changes as a draft

Do not merge until I carefully test most use cases

I suspect that the refactor of easynav_fusion_localizer is not correct at all, as there is a base_link_output_frame_id_ that I do not understand very well. Please, @midemig , review the changes related to this plugin, and fix anything you see wrong.

[fmrico]

Hi,

I have just tested this refactor in:

Param file	Robot	Sim/Real	World	Sensors	Maps Managers	Localizer	Planner	Controller	Checked
Test1	Kobuki	None	None	None	Dummy	Dummy	Dummy	Dummy	✅
Test2	Kobuki	Sim	House	Laser	Simple	AMCL/Simple	Dummy	Dummy	✅
Test3	Kobuki	Sim	House	Laser	Simple	AMCL/Simple	A*/Simple	Simple	✅
Test4	Kobuki	Sim	House	Laser	Costmap (obstacles + inflation)	AMCL/Costmap	A*/Costmap	Serest	✅
Test5	Kobuki	Sim	House	Laser	Costmap (obstacles + inflation) + Routes	AMCL/Costmap	A*/Costmap	MPPI	✅
Test6	Kobuki	Sim	House	Laser	Costmap (obstacles + inflation)	AMCL/Costmap	A*/Costmap	MPC + Collision	✅
Test7	Summit XL	Sim	URJC Dig	Laser 3D	NavMap	LidarSlam	A*/NavMap	MPC	✅
Test8	Summit XL	Sim	URJC Dig	Laser 3D	Bonxai + NavMap (obstacles + inflation)	AMCL	A*/NavMap	MPC	✅

So everything looks good to me :)

[midemig]

I created a new PR to fix frames in fusion_localizer PR 41

[fmrico]

Param file	Robot	Sim/Real	World	Sensors	Maps Managers	Localizer	Planner	Controller	Checked
Test1	Kobuki	None	None	None	Dummy	Dummy	Dummy	Dummy	✅
Test2	Kobuki	Sim	House	Laser	Simple	AMCL/Simple	Dummy	Dummy	✅
Test3	Kobuki	Sim	House	Laser	Simple	AMCL/Simple	A*/Simple	Simple	✅
Test4	Kobuki	Sim	House	Laser	Costmap (obstacles + inflation)	AMCL/Costmap	A*/Costmap	Serest	✅
Test5	Kobuki	Sim	House	Laser	Costmap (obstacles + inflation) + Routes	AMCL/Costmap	A*/Costmap	MPPI	✅
Test6	Kobuki	Sim	House	Laser	Costmap (obstacles + inflation)	AMCL/Costmap	A*/Costmap	MPC + Collision	✅
Test7	Summit XL	Sim	URJC Dig	Laser 3D	NavMap	LidarSlam	A*/NavMap	MPC	✅
Test8	Summit XL	Sim	URJC Dig	Laser 3D	Bonxai + NavMap (obstacles + inflation)	AMCL	A*/NavMap	MPC	✅

[fmrico]

Ready to review

[codecov-commenter]

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Codecov Report

❌ Patch coverage is 11.11111% with 112 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
...er/src/easynav_costmap_localizer/AMCLLocalizer.cpp	0.00%	16 Missing ⚠️
...zer/src/easynav_navmap_localizer/AMCLLocalizer.cpp	0.00%	15 Missing ⚠️
...zer/src/easynav_simple_localizer/AMCLLocalizer.cpp	0.00%	12 Missing ⚠️
...ner/src/easynav_costmap_planner/CostmapPlanner.cpp	0.00%	9 Missing ⚠️
...oller/src/easynav_vff_controller/VffController.cpp	0.00%	7 Missing ⚠️
...r/src/easynav_fusion_localizer/FusionLocalizer.cpp	0.00%	7 Missing ⚠️
...calizer/src/easynav_gps_localizer/GpsLocalizer.cpp	0.00%	7 Missing ⚠️
.../easynav_navmap_maps_manager/NavMapMapsManager.cpp	0.00%	7 Missing ⚠️
...lizer/src/easynav_fusion_localizer/ukf_wrapper.cpp	0.00%	6 Missing ⚠️
...ler/src/easynav_mppi_controller/MPPIController.cpp	0.00%	5 Missing ⚠️
... and 8 more

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