Draft: Resolve "Implementation of new nodes creation"

Closes #454, #318, #364, #449, #381, #376, #208, #485

demos/hello_wolf/yaml/hello_wolf_config.yaml

@@ -19,6 +19,8 @@ problem:
     type: "none"
 
 solver:
+  type: SolverCeres
+  plugin: core
   max_num_iterations: 100
   verbose: 0
   period: 0.2
@@ -27,9 +29,9 @@ solver:
   compute_cov: false
   minimizer: LEVENBERG_MARQUARDT
   use_nonmonotonic_steps: false         # only for LEVENBERG_MARQUARDT and DOGLEG
-  parameter_tolerance: 0.000001
-  function_tolerance: 0.000001
-  gradient_tolerance: 0.0000000001
+  parameter_tolerance: 1e-6
+  function_tolerance: 1e-6
+  gradient_tolerance: 1e-10
   
 sensors: