Updated gitignore
Mapping metapackage
Added package skeletons for storing and stitching map segments
The skeleton for the node responsible for saving data from the sensors during phase 1
Added messages for the mapping to make serialisation easier

Should be able to serialise the segments easily using built in ROS
serialisation. Can store messages in a rosbag written from the node rather than
a topic, and then read back in when necessary.

  # Please enter the commit
message for your changes. Lines starting # with '#' will be ignored, and an
empty message aborts the commit.  # On branch develop # Changes to be committed:
../mapping_msgs/CMakeLists.txt # new file: ../mapping_msgs/msg/MapSegment.msg #
new file: ../mapping_msgs/msg/SegmentPoint.msg # new file:
../mapping_msgs/package.xml # modified: CMakeLists.txt # modified: package.xml #
deleted: src/mapSegment.cpp # modified: src/segmentStorage.cpp #
removed logger
Mapping msgs updated, basic structure for segment storage

Added some turn related constants to MapSegment message for reconstruction
purposes
SegmentPoint now has an odometry part

Segment storage has the basic flow, stops a segment on turn start, starts new
segment when turn is finished. Need to implement writing to rosbag
Added rosbag writing to segment storage, launch package for mapping repo
Modified condition on starting and stopping segments

Initialised the variable defining whether or not segments are recorded
No longer starts multiple new segments when true is received multiple times on
the info topic
Added function to simulate extremely simple robot motion and IR data
Segment stitching reads data from rosbag, skeleton for required functions

Launch file used to define which rosbag segment data is read from
Fixed missing member function definition, missing namespace qualifier
Stitching uses global sensor parameter definitions, storage uses global topic params

Global parameter file defines the number of sensors, their names, and so on, and
then also the offsets from the centre of the robot. This allows the values to be
read automatically from a node.
Filled in some of the functions for segment stitching

IR sensors now defined as objects for ease of use (maybe)

Conversion of segments to measurements and individual SegmentPoints to
measurements is being done, but not sure if it is working correctly yet. Seems
to generate something like what is to be expected.

Need to use a frame to visualise the pointcloud that is being temporarily
published as a debug tool. Need to remember to define a map frame.
Correctly converting points from segmentpoint to XYZ point
Progress on ransac, everything uses point clouds
Fixed simulated odometry keeping distance between segments
Added U_TURN
Fixed variable name that was missed in previous commit
Extracting a single line from each segment.