Setup dynamic admittance parameterization node

[cjstahoviak]

We need to setup a node that can be used for dynamic parameterization. The input and output specifications for this node are documented in the SharePoint at Moses Biological Computation Lab/MARIAM/Figures & Diagrams/admittance_control_diagram.vsdx

Also to formally write out and define the relationship between the inputs and outputs.

[cjstahoviak]

The boiler plate code for this node is up in the mariam_dynamic_parameterization package.

Still need to:

• Implement a dynamic relationship between uncertainty and admittance parameters
• Document and formally write this relationship

[cjstahoviak]

Fix topics so that they look at slam's goal pose. Parameterization should be distributed, not centralized?

[cjstahoviak]

Boiler plate code is setup and formula implemented.

Still needs to be tested, waiting on Nav2 to finish implementation

[cjstahoviak]

Nav2 is finished, waiting on EKF to produce good covariance.