Fix ValidateTrajectoryOptions(). (#465)
Fix ValidateTrajectoryOptions(). (#465)

The checks in ValidateTrajectoryOptions() are both obsolete. Instead
we now just check that the correct trajectory builder options exist
at all.

Also checks options in Node::StartTrajectoryWithDefaultTopics() now.
googlecartographer/cartographer_ros,googlecartographer/cartographer_ros,damonkohler/cartographer_ros,wohe/cartographer_ros,memorysafe/cartographer_ros,cartographer-project/cartographer_ros,googlecartographer/cartographer_ros,cartographer-project/cartographer_ros,memorysafe/cartographer_ros,cartographer-project/cartographer_ros,memorysafe/cartographer_ros,damonkohler/cartographer_ros,damonkohler/cartographer_ros,wohe/cartographer_ros,wohe/cartographer_ros