Map frame built based on a target frame

[ngwk1]

Hi,

I would like to create the map in the same 2D Plane as per a target frame. Currently, it seems to be building the map based on the tracking_frame. This is an issue because if the tracking_frame and the lidar_frame isn't aligned on the same plane, the map can't be used for navigation directly due to scan data being occluded and alignment issues.