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.

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