Implementation of different trilateration localization algorithms:
- Linear trilateration
- Nonlinear trilateration
- RANSAC trilateration (TODO)
- Ranging messages are now gtec_msgs::Ranging (https://github.com/valentinbarral/rosmsgs)
- There is a new subscription to receive the anchor positions using a publisher like the node anchors included in:https://github.com/valentinbarral/rostoa.
- The output is now a PoseWithCovarianceStamped.
- Tested and working in simulation using https://github.com/valentinbarral/gazebosensorplugins.
Trilateration test: https://user-images.githubusercontent.com/38099967/109551631-155b7180-7ad1-11eb-9b51-e394b99d83fb.mp4