mrpt/base.h added to localization.cpp and gazebosim tutorial added

one should now be able to drive with a simulated robot and a working mrpt_localization using
roslaunch mrpt_tutorials r1_gazebo_gh25.launch
roslaunch mrpt_tutorials r1_localization.launch
roslaunch mrpt_tutorials r1_rviz.launch
roslaunch mrpt_tutorials r1_teleop.launch
The example also shows how one can deal with multiple robots.
RViz can also be used to reset the robot pose