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 Do not publish twist message if no laser data has been received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.

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)

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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