[#183] Map provider load pcl from yaml

Description

#183 (closed)

Change map_provider node to read a yaml config file for point cloud map. The yaml file has the .pcd point cloud file and WGS geo-reference coordinates for the map origin (lat lon elevation).

The node should load the pcd map given in the config file, and use the WSG coords to build a "earth-to-map" transform in ECEF coordinates and broadcast that as a static transform.

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