Add bmm forward propagation publishing

[dwisth]

If you add the below then you can visualise the BMM forward propagated pose using the \T_w_i message. This is useful for task 2 of the visual-inertial tutorial.

diff --git a/summer_school_private/smb_confusor/src/SmbConFusor.cpp b/summer_school_private/smb_confusor/src/SmbConFusor.cpp
index 8b12033..fa4f503 100644
--- a/summer_school_private/smb_confusor/src/SmbConFusor.cpp
+++ b/summer_school_private/smb_confusor/src/SmbConFusor.cpp
@@ -282,6 +282,7 @@ void SmbConFusor::baseOdometryCallback(const std_msgs::Float64MultiArray::ConstP
       BaseMotionModelParameters bmmParams = bmmPropagator_.propagate(t_meas);
       confusion::Pose<double> T_w_i = bmmParams.T_w_b * T_imu_base_.inverse();
       tfBroadcaster_.sendTransform(tf::StampedTransform(getTfMsg(T_w_i), ros::Time::now(), "world", "imu"));
+      pubRtPose_.publish(getMsg(T_w_i, "/world"));
     }
   }