Changed z_max to 10 in mapper. Needs to expose this parameter
Parametrize range thresholds for the keyframe mapper node
Removed range arguments from vo+mapping launch file because it's not necessary to over ingineer the launchers
Forgot to remove the range params from the vo launchers
Forgot to call the init params function in the keyframe mapper
Started benchmark branch with minor additions
Saving time statistics to file
Merged with old benchmark