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)

Taken from turtle bot

TFs need review