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/launch/mapping.launch.py

@@ -0,0 +1,73 @@
+#!/usr/bin/env python3
+"""P4 建图：激光 + rf2o 激光里程计 + slam_gmapping(SLAM)。
+
+odom→base_footprint 由 rf2o(从连续 /scan 推算)提供，**不依赖底盘里程计板** ——
+该板上电后仅短时上报，会让 odom TF 冻结、gmapping 报 "queue is full" 丢弃所有 scan。
+本管线对齐 lzu_robot 可正常建图的做法（rf2o 提供 odom→base，gmapping 出图）。
+
+用法：
+  ros2 launch craic_localization mapping.launch.py
+  # 另开终端遥控走图；满意后存盘：
+  ros2 run nav2_map_server map_saver_cli -f <pkg>/maps/craic --ros-args -p save_map_timeout:=10000.0
+"""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    pkg_share = get_package_share_directory('craic_localization')
+    lidar_launch = os.path.join(pkg_share, 'launch', 'lidar.launch.py')
+    gmapping_params = os.path.join(pkg_share, 'config', 'gmapping.yaml')
+    default_rviz = os.path.join(pkg_share, 'rviz', 'localization.rviz')
+
+    use_rviz = LaunchConfiguration('use_rviz')
+
+    return LaunchDescription([
+        DeclareLaunchArgument('use_rviz', default_value='true'),
+
+        # 激光 + 静态外参(base_footprint->laser_frame, base_footprint->base_link)
+        IncludeLaunchDescription(PythonLaunchDescriptionSource(lidar_launch)),
+
+        # 激光里程计：从 /scan 连续输出 odom -> base_footprint（建图运动来源）
+        Node(
+            package='rf2o_laser_odometry',
+            executable='rf2o_laser_odometry_node',
+            name='rf2o_laser_odometry',
+            output='screen',
+            parameters=[{
+                'laser_scan_topic': '/scan',
+                'odom_topic': '/odom',
+                'publish_tf': True,
+                'base_frame_id': 'base_footprint',
+                'odom_frame_id': 'odom',
+                'init_pose_from_topic': '',
+                'freq': 10.0,
+            }],
+        ),
+
+        # SLAM：发布 /map 与 TF map -> odom
+        Node(
+            package='slam_gmapping',
+            executable='slam_gmapping',
+            name='slam_gmapping',
+            output='screen',
+            parameters=[gmapping_params],
+        ),
+
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            arguments=['-d', default_rviz],
+            condition=IfCondition(use_rviz),
+            output='screen',
+        ),
+    ])