localization_mode: still trying to select the keyframes to compare to in a smart way. Bugfixing, something seems to be wrong with the transformations. Therefore, the nearest keyframes are not selected correctly
bugfixed location only mode - yay! - once it is localized it takes only the n closest keyframes to keep tracking. If it lost localization, it checks all keyframes for matches. Also added the number of keyframes to match against for tracking and an option to publish tf transforms for all keyframes to the parameter server
Merge pull request #4 from bosch-ros-pkg/marikarol_fixing

bugfixed localization mode and cleaned up