Ported to ros2 version of laser-scan-matcher by scan_tools.

• Install modified version of csmlib

• /scan (sensor_msgs/LaserScan)
• /tf (tf2_msgs/TFMessage)

• /tf (tf2_msgs/TFMessage) with transform odom->base_link
• /odom (nav_msgs/Odometry) Optional. Parameter publish_odom must be set to the name of the topic. If topic is empty, odom will not be published.

• Support of pure laserscan
• Support of IMU
• Support of odometry
• Support of PointCloud msgs