Description
Mantainer
License

From linorobot2 to icre
Separeate slam and nav
Group external packages

Now world should be in worlds folder

And modify wait times.

Change robot model type
Add maps for map_server

Refactor into diferent files
Custom algorithm:
 - Groups neighboring frontiers
 - Filter groups with size <  MIN
 - Devide groups with size > MAX

Added frontiers markers
Added centroids markers
Collapse views, display, tools and nav2 pluggin
Set window size and position

Copy online_async_multirobot_launch.py from slam_tooblxo to linorobot2_navigation in order to moddify it

SLAM: 
 - Reduce distance in loop closure and scan matching params in order to avoid jumping between rooms

NAV:
 - Reduce prune distance in order to consider fewer points for the local smooth plan (easier U turns).

Nav2 launch file and config with ns

Robot_radius -> forbidden cells
Inflation_radius -> not preferred cells

Trying to avoid drift

Scale:
-base_length
-base_width
-base_height
-base_mass
-wheel_radius
-wheel_width
-wheel_pos_x
-wheel_pos_y
-wheel_pos_z
-wheel_mass
-laser_pos_x
-laser_pos_y
NOTE: To modify laser size from mecanum_properties, further changes would be needed. For now leaving fixed size and modifying x and y pos (not z pos because as size is not modified it could end up inside the robot or the floor)