Currently testing communication

TODO - multiple robots (modify datastructures), math
stays the same
Tested on both simulated and real-world data, works in both cases

Small tweaks in parameter passing in simulated dm

(only had to modify generation of groundtruths)
changed initial starting states of robots in dm
added some basic path plotting code to test_simulation

Added custom noises to simulated_dataset_manager.py
Thorough review of simulated_dataset_manager reveals that it works correctly!
fixed delta_t with regards to alternation between measurement and odometry updates -> scheduling of this will change in next commit
will add multiple robots