Robot Localization

[jubeira]

The standard Nav Stack uses AMCL to localize within a map using a laser scan. The Tango Point cloud can be transformed to a laser scan, but perhaps there is some other way of using Tango features to solve the problem of localizing the robot relative to a fixed frame in a map more efficiently, given that the Tango device can be localized accurately with respect to the start_of_service frame.

[adamantivm]

I would call this a SLAM component. I think we can have two versions:

1. Use a flattened point cloud published as /laser, use gmapping to make a map and then amcl for SLAM
2. Use the Tango Start of Service to Area Description transform In either case, we need support from the tango_ros_streamer to implement them.