Adding position-based roaming.

[fbrand-new]

(AP = Access Point)

Added

Roaming functionalities

• Using a client/server architecture. The server depends on the navigation and will publish on a yarp port the AP to roam to.
• The current logic is to roam to the closest available AP, whenever the robot is further away than a parameterized threshold from the currently connected AP.
• The client reads the AP and roams. The client should run directly on the host machine and not inside the docker. It also need sudo privileges.
• Added unit tests and corresponding mock classes.
• The server depends on iwconfig program.
• The client depends on libwpa_client.so that should be installed on the host machine.

Modified

Dockerfile

• Added wireless-tools package to the recipe (in order to have iwconfig)

Still missing

• Documentation regarding required setup on host machine
• Testing on the real robot. Tests were performed in simulation.