Move LaserScannerFeatureExtraction to navigation

Move the LaserScannerFeatureExtraction component to navigation and move the Features from the Vision memory to the Navigation memory.

source/armarx/navigation/components/laser_scanner_feature_extraction/Component.cpp

@@ -57,6 +57,9 @@ namespace armarx::navigation::components::laser_scanner_feature_extraction
         armarx::PropertyDefinitionsPtr def =
             new ComponentPropertyDefinitions(getConfigIdentifier());
 
+        // Publish to a topic (passing the TopicListenerPrx).
+        def->topic(featuresTopic);
+
         // // Add an optionalproperty.
         def->optional(
             properties.taskPeriodMs, "p.taskPeriodMs", "Update rate of the running task.");
@@ -481,6 +484,24 @@ namespace armarx::navigation::components::laser_scanner_feature_extraction
 
         // store in memory
         laserScannerFeatureWriter.store(features, getName(), timestamp);
+
+        // legacy - topic
+        LineSegment2DChainSeq chains;
+        for (const auto& feature : features.features)
+        {
+            if (not feature.chain.empty())
+            {
+                LineSegment2DChain chain;
+                for (const auto& pt : feature.chain)
+                {
+                    chain.push_back(
+                        conversions::to2D(features.frameGlobalPose * conversions::to3D(pt)));
+                }
+                chains.push_back(chain);
+            }
+        }
+
+        featuresTopic->reportExtractedLineSegments(chains);
     }
 
     void