Handle bagfile error 'index-data' and make sure each thread terminates
properly

Sometimes a index-data error occurs when playing back bagfiles. In these
cases run rosbag reindex to fix the problem. Furthermore pay attention,
that the positionresolver thread terminates properly and doesn't hang at
the initialization of transformationListener. Therefore reduce the
timeout but try to initialize serveral times.
Don't try to terminate, process already closed
Add locks for correct handling of multithreading
Reduce log output
Use position observer properly with initalize
Use only one tflistener for positionResolver

When using a new transformListener for every instance of
positionResolver it causes an ros error 'tf_frames already registered'.