Ndt map visualization

[Fernando-Sanz]

Proposed changes

NDT map visualization publisher. It uses ellipsoids to represent obstacles placed using the mean and the covariance matrix of each cell.

Obstacle representation made with green ellipsoids (scale factor is used).

Type of change

• 🐛 Bugfix (change which fixes an issue)
• 🚀 Feature (change which adds functionality)
• 📚 Documentation (change which fixes or extends documentation)

Checklist

• Lint and unit tests (if any) pass locally with my changes
• I have added tests that prove my fix is effective or that my feature works
• I have added necessary documentation (if appropriate)
• All commits have been signed for DCO

[ivanpauno]

@Fernando-Sanz Linters are failing, check https://github.com/Ekumen-OS/beluga/blob/main/CONTRIBUTING.md#how-do-i-submit-a-good-code-contribution to install pre-commit.
After those steps, linters will run automatically each time you run git commit.
Run pre-commit run -a to fix your previous commits.

[ivanpauno]

Looks quite solid!

Could you upload a video or image of how the map is looking?

[hidmic]

Second pass

[hidmic]

@Fernando-Sanz I sense this needs some formatting, are we using pre-commit hooks?

Suggested change

	inline void use_cell_size(const auto& position, const auto& size, auto& marker){
	inline void use_cell_size(const auto& position, const auto& size, auto& marker) {

[Fernando-Sanz]

Yes(?). Now I'm not sure, I installed it and it was working with previous commits. I'm checking it.

[ivanpauno]

@Fernando-Sanz run pre-commit run --all.
It may take some time, but it will fix all formatting errors.

[ivanpauno]

Linter are happy now though https://github.com/Ekumen-OS/beluga/actions/runs/12319843458/job/34482145756?pr=453.

So I guess this isn't needed anymore

[hidmic]

Indeed, linters are not happy.