Adding support for setting diagonal values for covariance matrices

[ayrton04]

I've been meaning to do this for years. Should make config files less ugly.

[SteveMacenski]

i don't disagree that this would be easier to read, but this seems late in the game for such a big change to folk's configuration files migrating between distributions. If this was something that we were super interested in re-architecting / fixing up for the next 10+ years of use, I agree refreshes would be nice. But I thought R_L was in a 'don't fix what ain't broke' phase and looking forward to something like Fuse?

[ayrton04]

Both are supported. I haven't removed support for loading the full matrix.

And yes, we'll get to porting fuse next. I just want to clean a few things up here before I tie it off.

[SteveMacenski]

OK! I just saw the defaults change in the example files, but LGTM. If its both, then no problemo

[djaniel]

Hi,
I have been doing some tests with robot localization. I installed robot localization using apt and I was getting an error related to this Issue. I checked and noticed that the commit that solves this issue is on branch ros2, but not in branch humble-devel (the one provided by apt).

[ayrton04]

This isn't an issue; it was a new feature. What error did you get?