New Diff Drive suite with sensor self-calibration

include/core/processor/processor_odom_2D.h

@@ -21,18 +21,20 @@ WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsOdom2D);
 
 struct ProcessorParamsOdom2D : public ProcessorParamsMotion
 {
-        Scalar cov_det = 1.0;      // 1 rad^2
+        Scalar cov_det = 1.0;
 
         ProcessorParamsOdom2D() = default;
         ProcessorParamsOdom2D(std::string _unique_name,
                               const wolf::ParamsServer & _server) :
                 ProcessorParamsMotion(_unique_name, _server)
         {
-            cov_det = _server.getParam<Scalar>(_unique_name + "/cov_det", "1.0");
+            cov_det = _server.getParam<Scalar>(_unique_name + "/cov_det");
         }
+
         std::string print()
         {
-            return "\n" + ProcessorParamsMotion::print() + "cov_det: " + std::to_string(cov_det) + "\n";
+            return "\n" + ProcessorParamsMotion::print()
+            + "cov_det: " + std::to_string(cov_det) + "\n";
         }
 };