[ROS][feat] Add aggregation node
- For now, the SLAM was outputting a pose and a map at each timestamp but not the aggregated frames
- An optional node aggregation is added to package lidar_slam to aggregate the points using registered Lidar scans outputted by lidar_slam_node
- A voxel grid is used to downsample the cloud.
- The new node has 3 parameters :
- leaf_size : size of a voxel
- max_size : max width of the voxel grid and so of the output cloud
- min_points_per_voxel : min number of frames per voxel to consider the voxel contains a static object (moving objects rejection)
- A service is supplied to save the pointcloud on disk
- The new node can be run using the launch files with a parameter
Edited by Julia Sanchez