Consolidate parameters / configs

[gawela]

There are a lot of config files and launch file parameters flowing around. An effort for cleaning this up would be nice (nice-to-have!).

[hermannsblum]

In particular, all config handling should be refactored at some point to use the ConfigProvider.

This makes it possible to use configs in libraries without explicitly relying on ROS. An example looks like this here:

// Set up configuration provider.
ConfigProvider::Ptr cfg =
    std::dynamic_pointer_cast<ConfigProvider>(std::make_shared<RosConfigProvider>(nh_private_));

// Create construction strategy
auto construction_strategy = std::make_shared<offset_surface::VertexNormalStrategy>(cfg);

[drehermarc]

Thanks for the remarks.
As soon as the pending PRs have been discussed, I will start a new PR in which I will try to generally clean the code in master correspondingly.

[hermannsblum]

I think this does not only apply to Marcs code btw, we should clean up some other modules as well.

[michaelpantic]

@hermannsblum thought so too. I am currently cleaning up some of my code and will next week have a look on how we could modularize and consolidate the core a bit. I'll add a new general issue about this. Otherwise it'll grow out of our hands :)

[michaelpantic]

#80