WIP: Resolve "Processor constructors and creators requiring a sensor pointer?"

Closes #248 (closed)

hello_wolf/hello_wolf_config.yaml

@@ -4,25 +4,25 @@ config:
     frame_structure:      "PO"
     dimension:            2
     prior:
-      timestamp:      0.0
-      state:          [0,0,0]
-      cov:            [[3,3],.01,0,0,0,.01,0,0,0,.01]
-      time_tolerance: 0.1
+      timestamp:          0.0
+      state:              [0,0,0]
+      cov:                [[3,3],.01,0,0,0,.01,0,0,0,.01]
+      time_tolerance:     0.1
     
   sensors:
     -
-      type: "ODOM 2D"
-      name: "sen odom"
+      type:               "ODOM 2D"
+      name:               "sen odom"
       extrinsic: 
-        pose: [0,0, 0]
-      k_disp_to_disp: 0.1
-      k_rot_to_rot: 0.1
+        pose:             [0,0, 0]
+      k_disp_to_disp:     0.1
+      k_rot_to_rot:       0.1
 
     - 
-      type:                       "RANGE BEARING"
-      name:                       "sen rb"  
+      type:               "RANGE BEARING"
+      name:               "sen rb"  
       extrinsic:
-        pose: [1,1, 0, 0]
+        pose:             [1,1, 0]
       noise_range_metres_std:     0.1
       noise_bearing_degrees_std:  0.5  
           
@@ -42,12 +42,12 @@ config:
       unmeasured_perturbation_std: 0.001
     
     -
-      type:         "RANGE BEARING"
-      name:         "prc rb"
-      sensor_name:  "sen rb"
-      voting_active:  false
+      type:               "RANGE BEARING"
+      name:               "prc rb"
+      sensor_name:        "sen rb"
+      voting_active:      false
       voting_aux_active:  false
-      time_tolerance: 0.1
+      time_tolerance:     0.1
     
     
 files: