Fork from https://github.com/ros-planning/navigation/tree/noetic-devel/amcl at hash 22735aa01f2df383bdb16c26b4882eda8a556bed with some 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
- Fix a bug in the handling of ignore maps
- add subscription to /tf_static and clear lasers in callback
- Make sure amcl-laser and particle filter is not initialized with a nullptr as map