Can publish cloud and pose estimated. But the quaternions seem to be along the wrong axes...
Fixed quaternion code
Basic version of map<->world coordinate conversion working.

Assumes origin at (0,0) and since that's what I'm working with on this
map, I will fix it later.
Uniform initialization potentially working (not sure about tf transform).
Map tf transform done.
Add channel based drive to get data to from and localizer.