Add a base_footprint frame in TFInfo

[fmrico]

Hi,

This PR adapts to EasyNavigation/EasyNavigation#84

[codecov-commenter]

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Codecov Report

❌ Patch coverage is 11.76471% with 15 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
...oller/src/easynav_vff_controller/VffController.cpp	0.00%	3 Missing ⚠️
...er/src/easynav_costmap_localizer/AMCLLocalizer.cpp	0.00%	3 Missing ⚠️
...src/easynav_serest_controller/SerestController.cpp	0.00%	2 Missing ⚠️
...calizer/src/easynav_gps_localizer/GpsLocalizer.cpp	0.00%	2 Missing ⚠️
...zer/src/easynav_navmap_localizer/AMCLLocalizer.cpp	0.00%	2 Missing ⚠️
...zer/src/easynav_simple_localizer/AMCLLocalizer.cpp	0.00%	2 Missing ⚠️
...lizer/src/easynav_fusion_localizer/ukf_wrapper.cpp	0.00%	1 Missing ⚠️

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