Fixed costmap_2d clearing from service /move_base/clear_costmaps
Initial Clearing Costmap parameter change
Fixed hardcoded tf frames issue by adding variables for output and base_footprint frames along with mutator methods
Fixed hardcoded tf frames issue by fetching base_footprint_frame_ value from param server and using it in OdomEstimation filter
Added example to set base frame parameter
Empty tests
Add rostest/gtest
removes trailing spaces and empty lines
moves outside for-loop const variables
adds missed space in header include
removes unused param planner_costmap_publish_frequency
Merge pull request #226 from efernandez/cosmetics

Cosmetics
Pose pulled from parameter server when new map received
Move testing_helper
Add method for removing static observations (for testing)
First working test
Destruction and chaos (deleting the dynamic param clients)
Refactored tests
Add destructors for all of the layers to remove the dynamic parameter clients
Virtual Reality