Refactor laser_callback method

[nahueespinosa]

This is directly related to #57, but it should make #40 much easier to implement.

Summary

This patch is a small refactor of the laser_callback method in amcl_node.cpp. The functional changes are:

• We now get different errors depending on which transform lookup failed.
• We update the sensor and motion models with every laser scan message, if the robot has not moved we only skip the resampling step.
• We publish a new estimate after every update of the filter.
• Removes last_odom() method from the differential drive model interface.

Checklist

• Read the contributing guidelines.
• Configured pre-commit and ran colcon test locally.
• Signed all commits for DCO.
• Added tests (regression tests for bugs, coverage of new code for features).
• Updated documentation (as needed).
• Checked that CI is passing.

[nahueespinosa]

For now, pointing this to the nahuel/max_beams branch. Will redirect to main once #84 lands.

[ivanpauno]

LGTM!

The base branch was changed.