Feature/cartographer integration

This PR integrates the Google Cartographer into RobotComponents.

Current status

This is a first version to

• create maps
• localize in previously created maps

Still missing:

• publishing global pose
• storing pose in memory

How to install dependencies

Clone

• https://github.com/FabianReister/abseil-cpp branch: cartographer
• https://github.com/FabianReister/cartographer branch: h2t

Then just build the packages. Due to CMake magic (export command), that's sufficient.

What else is missing?

• Odometry timestamps :) This is already implemented and will be merged soon. Afterwards, I will finish the integration.

@paus.fabian I'd like to merge the current version into master.