Refactored amcl code for modularization of motion models(main branch) (ros-navigation#2642)

* Delete nav2_amcl directory

* Add files via upload

* Remove "."

* Update CHANGELOG.rst

* Remove redundant code from CMakelists.txt

* Reverted amcl_node.cpp

* Cleaned up differential_motion_model.cpp

* Update plugins.xml

Removed redundant code,to make both the models under one library.

* Cleaned up omni_motion_model.cpp

* Cleaned up motion_model.cpp

* Delete CHANGELOG.rst

* Update CMakeLists.txt

* Update motion_model.hpp

* Add header files via upload

* Update amcl_node.cpp

* Update differential_motion_model.cpp

* Update omni_motion_model.cpp

* Update CMakeLists.txt

* Update differential_motion_model.hpp

* Update motion_model.hpp

* Update omni_motion_model.hpp

* Update amcl_node.cpp

* Update differential_motion_model.cpp

* Update motion_model.cpp

* Update omni_motion_model.cpp

* Update differential_motion_model.cpp

* Update differential_motion_model.hpp

* Update motion_model.hpp

* Update omni_motion_model.hpp

* Update differential_motion_model.cpp

* Update motion_model.cpp

* Update omni_motion_model.cpp

* Update differential_motion_model.hpp

* Update motion_model.hpp

* Update omni_motion_model.hpp

* Update motion_model.cpp

* Update motion_model.cpp

* Update nav2_params.yaml

* Update CMakeLists.txt

* Update nav2_multirobot_params_2.yaml

* Update nav2_multirobot_params_1.yaml

* Update speed_global_params.yaml

* Update speed_local_params.yaml

* Update keepout_params.yaml

Author: poornimajd

nav2_bringup/params/nav2_multirobot_params_1.yaml

@@ -26,7 +26,7 @@ amcl:
     recovery_alpha_fast: 0.0
     recovery_alpha_slow: 0.0
     resample_interval: 1
-    robot_model_type: "differential"
+    robot_model_type: "nav2_amcl::DifferentialMotionModel"
     save_pose_rate: 0.5
     sigma_hit: 0.2
     tf_broadcast: true
@@ -286,4 +286,4 @@ waypoint_follower:
     wait_at_waypoint:
       plugin: "nav2_waypoint_follower::WaitAtWaypoint"
       enabled: True
-      waypoint_pause_duration: 200
+      waypoint_pause_duration: 200

nav2_bringup/params/nav2_multirobot_params_2.yaml

@@ -26,7 +26,7 @@ amcl:
     recovery_alpha_fast: 0.0
     recovery_alpha_slow: 0.0
     resample_interval: 1
-    robot_model_type: "differential"
+    robot_model_type: "nav2_amcl::DifferentialMotionModel"
     save_pose_rate: 0.5
     sigma_hit: 0.2
     tf_broadcast: true
@@ -286,4 +286,4 @@ waypoint_follower:
     wait_at_waypoint:
       plugin: "nav2_waypoint_follower::WaitAtWaypoint"
       enabled: True
-      waypoint_pause_duration: 200
+      waypoint_pause_duration: 200

nav2_bringup/params/nav2_params.yaml

@@ -26,7 +26,7 @@ amcl:
     recovery_alpha_fast: 0.0
     recovery_alpha_slow: 0.0
     resample_interval: 1
-    robot_model_type: "differential"
+    robot_model_type: "nav2_amcl::DifferentialMotionModel"
     save_pose_rate: 0.5
     sigma_hit: 0.2
     tf_broadcast: true