Robot wrapper tf

[Christilut]

Odometry etc should be added to TF tree from the robot wrapper.
Simulator already adds to TF tree by itself.

Pose estimation will only have the service to request current pose then.

[windelbouwman]

This is implemented on the player node side. This still has to be tested if it works the same as simulation.

[jurriaanvoskes]

when moving the robot (sim or real), odometry is all over the place, and g-mapping cant seem to hold the robot position. This is probably caused by the odometry output of the robot, but needs further investigation.