Work plan for mono_lidar refactor

[johannes-graeter]

steps for preparation

• Write a main that reporduces complete process with kitti data

  • [x] make reader for kitti data
  • [ ] add limo behaviour to that main (params can be read by ros)
  • [ ] evaluate on kitti to repodruce results

• Write more unit tests for expected current behaviour

• Identify in which mode monolidar ist currently launched

things to make better

• One coding style
• No NULL
• Remove unused options
• Clear input and output
• Output as return
• Error state through return
• Noexcept
• Some double work could be reduced

open questions

• Logger?

  @zephyrdaddy