baseline parameters should be in URDF

[JasonGibson274]

A couple places in the code are parameters that are used to signal distances on the physical platform (baseline in path and mapper). These should be converted to using the URDF so that every value it updated and consistent.

[escontra]

Still relevant but this issue should be better defined.

[JasonGibson274]

Essentially it replaces all parameters that give the distance between the wheels and makes it look up transform from one wheel to another.

In short talk to me before doing this