Adc

See merge request !2

Add missing watchdogs reset on constructor. Fix twist variable msg published on watchdog activation. Do not publish twist message if no laser data has been received

Solved a bug when computing the footprint collision: One of the variables was cast to an integer and the Infinity value has been changed by the maximum double value.
Solved a bug when the linear speed was 0.0: The trajectory was computed backwards in this case.

Differential and ackermann using angular speed architectures not implemented yet.
Added a pointcloud publisher of the collision points.

Migrated to PointCloud2 (not operational yet).
Migrated to TF2.

Kinetic migration

See merge request !1

# Conflicts:
#   src/safe_cmd_alg_node.cpp

Added modes: front_rear, original independent front/rear laserscan usage, frame_check, new mode where laserscans are transformed to base_frame pointclouds, and its points are used separately for front o rear speed limit
Added unsafe joy button, where a defined joy button enables unsafe mode while pressed

 - start watchdog on constructor, so ERROR msgs show if lasers don't work from the start
 - using ROS_ERROR_DELAYED_THROTTLED, with period of 5 seconds, which waits first 5 seconds before showing first error message.

El threshold no funcionava. Provo de fer una funcio que calculi el minim intentant evitar els valors <= 0.005

separat missatge lasers en 2 i afegit debug stream per veure possibles espuris[1] dels lasers. [1] Pregunteu a l'angel si no enteneu el significat

- optimitzada funcio de calcul maxim vel
- manicura de codi (usar _ enlloc de this-> ...)
- Testejat amb simulacio teo_sim

 - added parameters for variables
 - if a scan is not received, outputs an error (but keeps working)

 - Changing wrong msgs dependency template <msg_package_name>_cpp to <msg_package_name>_generate_messages_cpp

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Saturation to max front and rear velocities computed from distance to closer obstacle. Also relative motion command from teleop.

IRI SAFE CMD: filter cmd_vel depending on Laser Scans, so the robot stops moving to a close object. To be used with teleop or non-OA navigation