Make MemoryX optional

@reister this deactivates some of the self localisation components. Is it possible to make those independent of the old memory?

added enhancement label

requested review from @reister

assigned to @pohl

approved this merge request

I'm OK with your changes. Regarding the self localization, it requires some work achieve the same behavior without the old memory. Namely, the initial robot's pose is retrieved from the old long-term memory. Therefore, my proposal is:

1. With the help of @peller, implement a long-term memory which provides the last robot's global pose.
2. Refactor the SelfLocalization class to make use of 1. . As a consequence, all code related to MemoryX can be removed using preprocessor defs.

Note, that MemoryX is required to build the SelfLocalization but you don't need any MemoryX components during runtime. You can disable it completely using the corresponding properties.

merged

mentioned in commit 974c75cf