Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/SLAM/Cartographer/CartographerConfiguration.cs

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+namespace RobotNet10.RobotApp.SLAM.Cartographer;
+
+/// <summary>
+/// Root configuration for Cartographer integration
+/// </summary>
+public class CartographerConfiguration
+{
+    /// <summary>
+    /// Enable or disable Cartographer service
+    /// </summary>
+    public bool Enable { get; set; } = true;
+
+    /// <summary>
+    /// Use odometry data if available
+    /// </summary>
+    public bool UseOdometry { get; set; } = true;
+
+    /// <summary>
+    /// Sensor configuration
+    /// </summary>
+    public SensorConfiguration Sensors { get; set; } = new();
+
+    /// <summary>
+    /// Trajectory builder configuration
+    /// </summary>
+    public TrajectoryBuilderConfiguration TrajectoryBuilder { get; set; } = new();
+
+    /// <summary>
+    /// Map builder configuration
+    /// </summary>
+    public MapBuilderConfiguration MapBuilder { get; set; } = new();
+
+    /// <summary>
+    /// Map storage configuration
+    /// </summary>
+    public MapStorageConfiguration MapStorage { get; set; } = new();
+
+    /// <summary>
+    /// MCL (Monte Carlo Localization) configuration. When Enabled, SetInitialPoseAsync uses MCL to refine pose before starting Cartographer trajectory (xloc flow).
+    /// </summary>
+    public MclConfiguration Mcl { get; set; } = new();
+
+    /// <summary>
+    /// Occupancy grid generation configuration.
+    /// Controls probability thresholds, output mode, wall thinning, and ambiguous cell handling.
+    /// </summary>
+    public OccupancyGridConfiguration OccupancyGrid { get; set; } = new();
+}