New state estimation

[antoinedang]

Related Issue(s)

• Issue Create Mission planning Package #1
• Issue Create Control System Structure #2

Other Dependent PRs

• PR Create Control System Structure #2
• PR Create State Estimation Package #3

Changes Made

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Rationale/Other Solutions Considered

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Tests Done

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Optional Screen Recording

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Required Wiki Changes (if any)

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Required install_dependencies.sh Changes (if any)

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[MrMondrian]

This works and is ready for rigorous testing

[MrMondrian]

@antoinedang for some reason I can't request your review on this but if you could that would be great