smc_node.py

pretty close to porting to heron w/ ros2. unfortunatelly there's no time to finish. but the last todo would be to use robot_localization on top of the existing ros2 nav2 stack to get sensors fusion AND the gps-type capability of amcl. other than that ur_rtde can be used simultaneously with the ros2 comm on the mir platform. and, of course, parameters need to be tuned so that they actually correspond to the robot