fixed map and costmap misalignement due to wrong frame_id

The map published by STDR had "map" as frame ID whereas I am using "world" as global frame_id. This causes a misalignment between static_map and global_costmap in RVIZ. The only way to fix this was to run a parallel map server that publishes the same static map to a different topic (i.e /new_map) but with a frame_id "world" and choose it in RVIZ instead of "/map".
If my description was not clear, I can show you directly on my computer.