Move set initial estimate to dataset playback

[manuelgitgomes]

Set initial estimate is the only module in ATOM that uses the bag file instead of the dataset (not counting with data collection).
This should be change to avoid using bag files as much as possible.
This functionality can be conceptually aggregated to the dataset playback, and as @miguelriemoliveira, @Kazadhum and @brunofavs and I discussed, this seems the best option.

As we are at it, the world to base footprint tf should also be added to the set initial estimate.