More informative error message for tf failure
Add configurable frames to more utils

get_yaw_to_origin and translate_base_link
Correct frame for yaw measurement in star
More informative log message for off costmap
More informative log message on tf failure in pursue_sample
Correct odometry frame for sample search pattern
Parameterize frames in launch files
Enable noisy odometry

Push all robot activity into fake_map and fake_odometry and publish
a noisy transform from map->fake_map
Whitespace