Address likelihood field limitations

[hidmic]

Feature description

Beluga's AMCL best performing sensor model is far from perfect. We know our implementation doesn't handle unknown space, we know it completely breaks down when obstacles expand entire regions (and not just a contour). We know we are missing beam skipping functionality. We should address these.

Implementation considerations

• Extend likelihood field to model unexplored space #55
• Beam skipping in likelihood field model #187
• Thick map walls cause a lot of uncertainty to the likelihood sensor model, damaging localization solution #265