Fixed the bug with RaB noise compensation

While here, increased nb of readings to 20 for better stability
Updated bin/autonomous_ranger to API changes
Close Aseba upon robot's destruction
Do not magically manipulate values returned by the RaB

There are better places for that...
Implement wait_for_state_update in Ranger
Better coverage for ActionCancellation signal
Cleaned up beacon pose computation, removed orientation estimation

To be replaced by full monte carlo localization
[ranger_monitor] Plot the estimated beacon position
Refactor odom.py so that different wheel base and wheel radius can be set

Useful to simulate odometry inaccuracies, for instance for Monte Carlo Localization
Do the unit conversions earlier when reading from RaB