High Quality Map Publish

[Huguet57]

Seeing (literally) for the first time indoor data, I've seen it's relevant to add the ability to change the downsampling precision. Indoor scenarios have more details and open spaces tend to have repeated normals and create degenerate scenarios.

The downsampling_prec parameter is added such that the lower the value is, less spatial downsampling there is.

Results using @qpc001's data (hope you don't mind!).

downsampling_prec: 0.5

downsampling_prec: 0.1

[Huguet57]

Actually, forget that. I will leave it as parameter because why not. 0.5 is a safe value. But if we want high quality map we just publish the undownsampled map and that's it.

high_quality_publish: true

high_quality_publish: false

[Huguet57]

Since Xaloc is also happy with the change, it's worth to merge.

high_quality_publish: false

high_quality_publish: true