build_map.md: Update the doc and mention Ryan's tool #390
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This is a minor doc adjustment to reflect that when localization_node is used, the bag must be played first, and localization enabled later.
Also how to use Ryan's tool for these steps is shown, and a gotcha is outlined, which is that the path to the bag must be absolute with this tool, unlike when one plays a bag directly with rosbag play.
Note that there is bit of repetition in the doc, that is because it describes how localization should work on the real robot and on a local machine.