Changes needed for Dashing

[rotu]

Declare parameters
Name transform listener node to prevent node name collision
Reuse executor (rclcpp::spin_some creates an executor, which takes 36 ms, causing significant issues).

[SteveMacenski]

Does this substantively different than what's in #476 ? I see alot of the same "stuff" in different places.

Only off hand review question beyond trying to rectify these PRs together is I see you've hardcoded odom0 and imu0, that needs to not be like that. One of the benefits of r_l is that it is generalized enough to handle N sources

[rotu]

@SteveMacenski It's pretty similar, though that PR looks like it may be in a better state.
I'm ambivalent which one should be merged in.

@cottsay did most of the work on this one, so I already feel a little weird creating a PR of someone else's work.

[rotu]

yielding to #476. I'll make any needed changes on top of that PR.

[SteveMacenski]

@rotu eh, he works for open robotics, I think its ok ;-) they're busy enough.

If this adds something more to that PR says so and we can work out a plan to integrate, just from a quick scan it seemed similar