Fixed some more errors of the direct use of pointcloud object

In addition, for the personal convenience, I added an initialization interface for the odometry_helper_ros module in the base_local_planner package, since the old one could not accept the odometry topic name other than "odom". Now in order to use the new version of the module, one must call the initialization function before using the module. Many other changes result actually from the indentation by the editor I use (qtcreator).