Add particle cloud display plugin for RViz (ros-navigation#1688)

* Add particle cloud display rviz plugin

Signed-off-by: Sarthak Mittal <[email protected]>

* General refactoring

* Fix header guards

* Update bringup rviz files and default values

Author: naiveHobo

nav2_bringup/bringup/rviz/nav2_default_view.rviz

@@ -214,24 +214,19 @@ Visualization Manager:
       Use Timestamp: false
       Value: true
     - Alpha: 1
-      Arrow Length: 0.019999999552965164
-      Axes Length: 0.30000001192092896
-      Axes Radius: 0.009999999776482582
-      Class: rviz_default_plugins/PoseArray
+      Class: nav2_rviz_plugins/ParticleCloud
       Color: 0; 180; 0
       Enabled: true
-      Head Length: 0.07000000029802322
-      Head Radius: 0.029999999329447746
+      Max Arrow Length: 0.3
+      Min Arrow Length: 0.02
       Name: Amcl Particle Swarm
-      Shaft Length: 0.23000000417232513
-      Shaft Radius: 0.009999999776482582
       Shape: Arrow (Flat)
       Topic:
         Depth: 5
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Best Effort
-        Value: /particlecloud
+        Value: /particle_cloud
       Value: true
     - Class: rviz_common/Group
       Displays:

nav2_bringup/bringup/rviz/nav2_namespaced_view.rviz

@@ -164,24 +164,19 @@ Visualization Manager:
       Use Timestamp: false
       Value: true
     - Alpha: 1
-      Arrow Length: 0.019999999552965164
-      Axes Length: 0.30000001192092896
-      Axes Radius: 0.009999999776482582
-      Class: rviz_default_plugins/PoseArray
+      Class: nav2_rviz_plugins/ParticleCloud
       Color: 0; 180; 0
       Enabled: true
-      Head Length: 0.07000000029802322
-      Head Radius: 0.029999999329447746
+      Max Arrow Length: 0.3
+      Min Arrow Length: 0.02
       Name: Amcl Particle Swarm
-      Shaft Length: 0.23000000417232513
-      Shaft Radius: 0.009999999776482582
       Shape: Arrow (Flat)
       Topic:
         Depth: 5
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Best Effort
-        Value: <robot_namespace>/particlecloud
+        Value: <robot_namespace>/particle_cloud
       Value: true
     - Class: rviz_common/Group
       Displays: