message: Add map accessor to TSDF server.
diff: @@ -33,7 +33,8 @@ class TsdfServer {
  TsdfServer(const ros::NodeHandle& nh, const ros::NodeHandle& nh_private);
  virtual ~TsdfServer() {}
  - virtual void insertPointcloud(const sensor_msgs::PointCloud2::Ptr& pointcloud);
  + virtual void insertPointcloud(
  + const sensor_msgs::PointCloud2::Ptr& pointcloud);
  virtual void newPoseCallback(const Transformation& new_pose) {}
  void publishAllUpdatedTsdfVoxels();
  @@ -50,6 +51,8 @@ class TsdfServer {
  virtual void updateMeshEvent(const ros::TimerEvent& event);
  + std::shared_ptr<TsdfMap> getTsdfMapPtr() { return tsdf_map_; }
  +
  protected:
  ros::NodeHandle nh_;
  ros::NodeHandle nh_private_;
  