feat(craic_localization): add package foundation, configs, and launch files

New ROS2 package for wheel odometry + LiDAR localization. Includes: AMCL config (omni model, likelihood_field), gmapping config (5cm grid, 30 particles), YDLiDAR TminiPro config, launch files for lidar bringup, SLAM mapping, AMCL localization, and sensor calibration, plus RViz config with Map/LaserScan/Odometry displays.

Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>

ros2/src/craic_localization/config/amcl.yaml

@@ -0,0 +1,56 @@
+# P5 AMCL 定位参数 —— 改自 lzu_robot/maps/amcl_config.yaml
+# 麦轮底盘用 omni 运动模型；帧与 chassis_odometry / 激光一致。
+# 地图文件由 localization.launch.py 的 map:= 参数注入 map_server 的 yaml_filename。
+
+map_server:
+  ros__parameters:
+    use_sim_time: false
+    yaml_filename: ""        # 由 launch 的 map:= 覆盖
+    topic_name: "map"
+    frame_id: "map"
+
+amcl:
+  ros__parameters:
+    use_sim_time: false
+    # ===== 帧 / 话题 =====
+    odom_model_type: "omni"          # 麦轮全向；差速底盘改 "diff"
+    global_frame_id: "map"
+    base_frame_id: "base_footprint"
+    odom_frame_id: "odom"
+    scan_topic: "scan"
+
+    # ===== 运动模型噪声（按里程计实际精度调）=====
+    alpha1: 0.005
+    alpha2: 0.005
+    alpha3: 0.005
+    alpha4: 0.005
+    alpha5: 0.005
+
+    # ===== 粒子滤波 =====
+    min_particles: 500
+    max_particles: 1000
+    pf_err: 0.05
+    resample_interval: 5
+
+    # ===== 激光模型（匹配 TminiPro：12m）=====
+    laser_model_type: "likelihood_field"
+    laser_max_range: 12.0
+    laser_min_range: -1.0
+    max_beams: 500
+    sigma_hit: 0.05
+    z_hit: 0.5
+    z_rand: 0.03
+    laser_likelihood_max_dist: 2.0
+
+    # ===== 更新策略 =====
+    update_min_d: 0.05
+    update_min_a: 0.05
+    transform_tolerance: 0.5
+
+    # ===== 初始位姿（按机器人在场地中的起始点设置；可被 launch 覆盖）=====
+    set_initial_pose: true
+    initial_pose:
+      x: 0.0
+      y: 0.0
+      z: 0.0
+      yaw: 0.0