Navigate on Linux with Tango data

[jubeira]

To test the navigation stack on Linux, the starting point will be an operational navigation stack running with data coming from a simulator (such as Stage or Gazebo). Then, the simulation shall be removed, and the data inputs shall be replaced progressively with real data coming from a Tango device. These are the steps to follow:

• [x] Run a fully operational Nav Stack on Linux using simulated data (Stage) - Step 0.
• [x] Remove the simulator, and use wheel odometry as input to move_base and the visualizer (RVIZ). Use a clean map. - Step 1
• [x] Use Tango odometry instead of wheel odometry. See #15 . - Step 2.
• [ ] Use Wheel and Tango odometry in an effective manner (perhaps correcting wheel odometry with Tango odometry. Only if necessary).
• [x] Add Tango Point Cloud for obstacle avoidance.
• [ ] Add a Map
• [ ] Solve localization problem. See #13 .

[jubeira]

Update: #31 uploads configuration to use Tango Point cloud in Android directly.