All functions in localisation now work with the new map type.

[adambinch]

This includes its services. To localise using the new map type pass the arg -use_tmap2 i.e. rosrun topological_navigation localisation.py -use_tmap2 Robot localises in the topological map using the topological map to baselink tf transform. When an old map is loaded in the map manager, it is automatically converted to the new type and the default identity transform between the topomap and the map is broadcast.

[adambinch]

Ready for you to have a look at now @Jailander :)

Tested by running the riseholme sim from the thorvald_uv repo and seems fine. But the localise by topic functionality needs to be tested.

[Jailander]

tested it works