incubed_amcl

Fork from https://github.com/ros-planning/navigation/tree/melodic-devel/amcl with some changes.

Current changes

• The name of the map topic can be changed via reconfiguration
• Fixed uninitialized frame names becoming valid after the tf_prefix is removed
• Avoid that a negative covariance is stored to the parameter, to avoid not-a-number issues at map-updates
• Possibility to change the scan-topic dynamically
• Added possibility to ignore beams during calculating probability for the given pose
• Avoid that the amcl node writes its last pose to the parameter server