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Resolve "Subscriber&processor for landmark external detections"

Merged Resolve "Subscriber&processor for landmark external detections"
478-subscriber-processor-for-landmark-external-detections into devel
Merged Joan Vallvé Navarro requested to merge 478-subscriber-processor-for-landmark-external-detections into devel
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include/core/factor/factor_relative_pose_2d_with_extrinsics.h
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@@ -175,7 +175,7 @@ inline bool FactorRelativePose2dWithExtrinsics::operator ()(const T* const _p_re
// s1_p_s2 = s1_R_r1*(r1_R_w*(w_p_r2 - w_p_r1) - r1_p_s1)
expected_measurement.head(2) = Eigen::Rotation2D<T>(-o_sensor)*(-p_sensor + Eigen::Rotation2D<T>(-o_ref)*(-p_ref + p_target));
expected_measurement(2) = o_target - o_ref;
expected_measurement(2) = o_target - o_ref - o_sensor;
}
// Error