Particle_filter.py: Added the option to publish a map to odom transform. #9
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…rm in order to make this particle filter use the same standard as the AMCL package and be compatible with ROS navigation libraries like move_base.
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In order to make this particle filter use the same standard as the AMCL package and be compatible with ROS navigation libraries like move_base, the option to publish a map to odom transform has been provided. It is enabled by setting the ros parameter publish_map_to_odom to 1. This addresses issue #5