message: added sensorToBase transform on global_pose
diff: @@ -958,14 +958,17 @@ void CoreWrapper::commonDepthCallbackImpl(
  if(!globalPose_.header.stamp.isZero())
  {
  // assume sensor is fixed
  - Transform baseToSensor = rtabmap_ros::getTransform(
  - frameId_,
  + Transform sensorToBase = rtabmap_ros::getTransform(
  globalPose_.header.frame_id,
  + frameId_,
  lastPoseStamp_,
  tfListener_,
  waitForTransform_?waitForTransformDuration_:0.0);
  - if(!baseToSensor.isNull())
  + if(!sensorToBase.isNull())
  {
  + Transform globalPose = rtabmap_ros::transformFromPoseMsg(globalPose_.pose.pose);
  + globalPose *= sensorToBase; // transform global pose from sensor frame to robot base frame
  +
  // Correction of the global pose accounting the odometry movement since we received it
  Transform correction = rtabmap_ros::getTransform(
  frameId_,
  @@ -974,7 +977,6 @@ void CoreWrapper::commonDepthCallbackImpl(
  lastPoseStamp_,
  tfListener_,
  waitForTransform_?waitForTransformDuration_:0.0);
  - Transform globalPose = rtabmap_ros::transformFromPoseMsg(globalPose_.pose.pose);
  if(!correction.isNull())
  {
  globalPose *= correction;
  