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Melodic backport of https://github.com/cra-ros-pkg/robot_localization/pull/595 #840

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adopt https://github.com/cra-ros-pkg/robot_localization/pull/595

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Melodic backport of https://github.com/cra-ros-pkg/robot_localization/pull/595 #840

adopt https://github.com/cra-ros-pkg/robot_localization/pull/595
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