added world_to_world_tf node

[anselaustin]

added a static tf broadcast from wamv/world to alpha_rise/world using GPS data

[mzhouURI]

param names has to be generalized. we can't use asv or auv names in here.
instead, you can call world_parent or world_child world_parent_prefix and world_child_prefix
, and then in the launch file, you set the param to asv world or auv world.
also, not sure why we need asv_odom frame in the code?

[mzhouURI]

there are some issues with the code.
needs further validation and modification.
See my comment at lines above