Fix/laser handling minor

See merge request !31

Increase rotation errors expected when rotating and translating, which seems to fix broken maps

See merge request !30

Fix map area not being fully freed when current scan is in it

See merge request !29

Add last laser scan at last pose to map to initially fill potentially cleared or previously unknown areas

Dev/update map parts

See merge request !28

Added code to clear specific map area from being blocked instead of only a fixed area around the robot

Remove warning: 'passing ‘const std::map<std::__cxx11::basic_string<char>, tf::StampedTransform>’ as ‘this’ argument discards qualifiers'

Removed option to set base_link as frame below map frame, defaulting to base_footprint now all the time