New `LoadMap` service and debug function
New `LoadMap` service

Allow loading a 3D map and use it as 2D map.
Allow setting an initial transform TOdomToMap when new map is loaded.
New `LoadMap` service and debug function

Edited LoadMap callback function in order to support the modified service.
Added new function to verbose information about wrong features or descriptors matching
Fix declaration of debug function
Fix debug function parameters

Now its building
Deleted unnecessary 'Eigen/Core' include
Fix debug function parameters
Merge branch 'master' of https://github.com/chipironcin/ethzasl_icp_mapping into chipironcin-master
Merge branch 'chipironcin-master'