Removed two unused variables and added some comment-based documentation of the map->odom transform logic
Removed two unused variables and added some comment-based documentation of the map->odom transform logic

tscho1l/robot_localization,punithm/robot_localization,adnanademovic/robot_localization,ayrton04/robot_localization,adnanademovic/robot_localization,tscho1l/robot_localization,ayrton04/robot_localization,punithm/robot_localization,braincorp/robot_localization,braincorp/robot_localization