If the output of cartographer should be used as an input to an additional sensor fusion method,
using the published TF transform is inconvenient or in our specific use case even harmful
because we don't want to add the raw cartographer output to our TF tree.
With this change it becomes optional to broadcast to /tf.
Morever there is an option to publish the tracked frame pose as a PoseStamped message.
We add two new optional parameters:
- `publish_to_tf` if false no tf transform is broadcasted
- `publish_tracked_pose` If set `true` a PoseStamped representing the position of the
tracked pose w.r.t. map frame is published.
If default launchers and settings are used this PR causes no change in the behavior.
dcbd9d10df
