Adapt configure to accept unconnected tf trees

[brunofavs]

ATOM should look if all the chains between the estimated tf's and not the entire tree.

In zau there were multiple tf branches that we discarded but were bugging our configure.

https://github.com/lardemua/atom/blob/a57f1652e2d46ae98ab6fa66850a0e45182f3b73/atom_calibration/scripts/configure_calibration_pkg#L418-L426

[miguelriemoliveira]

This may have many implications. Will give it low priority for now...