SLAM-008: Configure Kitware SLAM Localization Parameters

[lblommesteyn]

Summary

• add mapping_localization_python/config/slam_params_localization.yaml for localization-only Kitware SLAM mode
• disable map updates (slam.voxel_grid.update_maps: 0) to keep the loaded map fixed
• disable loop-closure constraints (graph.constraint.loop_closure: false)
• tune localization registration settings for accuracy/speed balance
• configure manual initialization (maps.initial_pose) with optional automatic initialization path (external_sensors.external_poses)
• set confidence thresholds (slam.confidence.position_error.threshold: 0.2) and publish confidence output
• add README launch example for localization-only parameter file usage

Validation

• YAML parses successfully
• all configured keys match Kitware lidar_slam reference parameter schema
• localization constraints validated in config:
  • map updates disabled (update_maps == 0)
  • loop closure disabled (loop_closure == false)
  • confidence output enabled (output.confidence == true)
  • max localization error threshold set to 0.2

[lblommesteyn]

Triage note from AP1 bringup: this overlaps with localization-only SLAM config work and is currently dirty. Probably needs a rebase plus mapping/SLAM owner review before it can be considered. Not blocking the current AP1 RealSense bag smoke-test path.