Added a static transform between the map and opendrive frames.

Added arguments to the navigation launch to specify the opendrive transform.

config/adc_rosnav/global_planner/iri_opendrive_params.yaml

 base_global_planner: "iri_opendrive_global_planner/OpendriveGlobalPlanner"
 OpendriveGlobalPlanner:
+  opendrive_frame: "opendrive"
   angle_tol: 0.5
   dist_tol: 0.3
   multi_hyp: True

launch/adc_navigation.launch

@@ -19,6 +19,10 @@
   <arg name="car_y"                       default="0.0"/>
   <arg name="car_yaw"                     default="0.0"/>
 
+  <arg name="opendrive_x"                 default="0.0"/>
+  <arg name="opendrive_y"                 default="0.0"/>
+  <arg name="opendrive_yaw"               default="0.0"/>
+
   <include file="$(find iri_rosnav)/launch/nav.launch">
     <arg name="ns"                      value="$(arg name)"/>
     <arg name="path"                    value="$(find iri_adc_launch)/config/adc_rosnav"/>
@@ -59,4 +63,7 @@
 
   <param name="/$(arg name)/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(arg opendrive_path)/$(arg map_name).xodr" />
 
+  <node name="static_tf_map_to_opendrive" pkg="tf" type="static_transform_publisher"
+        args="$(arg opendrive_x) $(arg opendrive_y) 0 $(arg opendrive_yaw) 0 0 map opendrive 100">
+    </node>
 </launch>