created first draft of the detector, added a small test for easy testing in...

Niklas Grambowrequested to merge
58-implementation-for-w4-0 into 70-modifications-for-w40-and-acquiring-results-felipe

created first draft of the detector, added a small test for easy testing in your ide, windowing with ros_datahandler works well

Closes #58 (closed)

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