large changes were made again. creating nodes now makes sense, there is a good basis for loop closure control (which is tricky due to local transform/local consistency only). The toponav_map fram is now adherred properly. Current issues: 1. edge creation should be updated/improved to reflect changes. 2. Topological navigation does not reflect this changes yet, thus fails for large local transforms!. Next step: fix that (together with removing st_navigation bgl/dijkstra).