Multi-sensors (laser and camera) frame_id renaming and TF publish control

[doisyg]

Taking inspiration from #38 and #41, this PR enables 2 things:

• Renaming all tf frames : odom, base_link, base_footprint, laser(s) and camera(s).
• Disabling the publication of the TF transforms of the sensors with per sensor control.

This is done through parameters and array of parameters. Default (old) behavior should be ensured in case the parameters are not set. Below an example launch file:

<launch>
  <param name="use_sim_time" value="true"/>
  <node pkg="stage_ros" type="stageros" name="stageros" args="/tmp/stage_world.world">

  <param name="odom_frame_id" value="odom"/>
  <param name="base_link_frame_id" value="base_link"/>
  <param name="base_footprint_frame_id" value="base_footprint"/>

  <rosparam param="laser_frame_ids">['front_laser_link', 'back_laser_link']</rosparam>
  <rosparam param="camera_frame_ids">['camera_bottom_front_link', 'camera_top_front_link']</rosparam>

  <rosparam param="publish_laser_tfs">[false, true]</rosparam>
  <rosparam param="publish_camera_tfs">[true, false]</rosparam>


  <!-- sensor topics remaping -->
  <remap from="base_scan_0" to="scan_front"/>
  <remap from="base_scan_1" to="scan_back"/>

  <remap from="image_0" to="camera_bottom_front/image_raw"/>
  <remap from="camera_info_0" to="camera_bottom_front/camera_info"/>

  <remap from="image_1" to="camera_top_front_link/image_raw"/>
  <remap from="camera_info_1" to="camera_top_front_link/camera_info"/>
  </node>
</launch>