handful of TF tools about geometry2

[tfoote]

The interactive_tansform_publisher definitely is generally of interest. I'd want to review it's dependencies to make sure it's not too heavy weight. But i think it could be merged into tf2_tools after a review.

The twist integrator seems like it would be better released as a library. Running it as script is hard to do things like reset the integration etc. Also the multiplier parameters seem odd for an integrator. There are also potentially several ways to do the discrete integration which might want to be expose and I'm not sure making this script highly generic is worth the effort.

[davetcoleman]

+1 to the interactive transform publisher, i've been wanting this for a long time!! @mcevoyandy and I made a similar keyboard-based tf publisher that you can tweak by keyboard which we would also be interested in contributing to tf2