Online localization

[hepromark]

We need some way to localize ourselves on the map during race time. We will have a map created offline to localize against.
Ideally, this takes in data from:

1. Encoders
2. IMU
3. Lidar scans

We can start with any subset of the 3 to experiment on its effectiveness, but ideally all 3 are used in some capacity to increase accuracy.

Some potential avenues:

• Extended Kalman Filter
• Particle Filter