Figure out why some parts of the occupancy grid end up very far away

[clalancette]

When testing out cartographer_ros with ROS2 on the Turtlebot2, it seems like some of the visualized walls are very far away from the real walls. Most of the walls are correct, there are just a few scans here and there that seem to be way out of whack. This may be contributing to the poor mapping performance of the current ROS2 demo. Note that this may be a problem here, or in depthimage_to_laserscan, or even in the astra camera node.

[wjwwood]

@dhood maybe this is related to amcl's troubles you were describing.

If some of the laser scans are getting transformed incorrectly then that would account for amcl's behavior as well as this.