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[feat][ROS] Create pose SLAM frequency feature

Arthur Bourbousson requested to merge feat/ROSWrapping_frequency into master

Add the frequency feature of LidarView to ROS wrapping.

Reminder of SLAM frequency feature:

  • At each SLAM output, the trajectory is updated, adding the last poses computed from the previous frame input at a specific frequency. If no external sensor are used, the poses are interpolated. If a pose sensor or an IMU is used, the interpolation is performed between this external sensor measurement.

  • If the frequency is set to -1, one pose per SLAM output is computed.

Edited by Julia Sanchez

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