consistent 2 space indentation
change tf2_web_republisher to use a service and dynamically advertised topics instead of an action call

TODO: testing
change TFArray member name from data to transforms
change terminology to reflect the fact that this is now a service, rather than an Action server

also remove some high-frequency debug output
remove test folder
modularize code that can be used by both the action and service implementation
add back action server functionality
Merge pull request #16 from T045T/tf2_republisher_service

Tf2 republisher service