sdf_2d_slam - 2D SDF tracker implementation

Basic SDF Tracker

• 2D odom and 3d sensor data collection in Stage simulator
• Scripts for extracting data from collected rosbags
• Implement creating a sdf map using a single scan and visualize
• Implement sdf fusion using true pose and create map
• Implement sdf tracking

Semantics Incorporation

• Augment laser scan with semantics labels
• Build semantic map from sdf tracker
• Implement semantics-incorporated tracking optimization