Implement omnidirectional motion model

[nahueespinosa]

Description

Now that #56 is done, we can aim to implement the omnidirecional model as an alternative motion model in beluga.

Definition of done

• An omnidirectional motion model class with tests added to beluga.

Additional considerations

The motion model used in the particle filter is fixed at compile time. We have not yet defined a way to support sensor model selection at runtime, so adding the parameter to select between different models is outside the scope of this ticket. Although it would be nice to test the new model locally with the ROS2 node, even if those changes won't be pushed yet.

[olmerg]

I make the class OmniDriveMotion and it is working the unitary tests and beluga_example(changing diff_drive plugin of flatland). But I do not understand how to switch in amcl_node between the two motion models, I will wait #118 and #119 to have a clear route.

[ivanpauno]

I make the class OmniDriveMotion and it is working the unitary tests and beluga_example(changing diff_drive plugin of flatland). But I do not understand how to switch in amcl_node between the two motion models, I will wait #118 and #119 to have a clear route.

I think you could create a PR with what you have, and the PR adding how to choose between one or the other in the amcl node can be a separate one.