- Update config file to add new features:
- Allow to load initial keypoints maps at node startup
- Allow to freeze these initial maps to avoid updating them
- Allow to set initial SLAM pose at startup
- Add a subscriber to 'set_slam_pose' topic (of type
geometry_msgs/PoseWithCovarianceStamped) to set SLAM pose from external guess. This allows to set SLAM pose from RViz using the 'set initial 2D pose', or by publishing a full 3D pose using an other localization node.