safety_limiter: extrapolation of the tf for input cloud

[ykoga-kyutech]

The input cloud to safety_limiter can be transformed at ros::Time(0) which means that latest available transforms in that tf tree. In that case, there might have a delay from latest to acquisition time of input cloud. Extrapolation is encouraged to reduce the delay.

neonavigation/safety_limiter/src/safety_limiter.cpp

Lines 349 to 350 in 963aadb

	const ros::Time stamp =
	can_transform ? pcl_conversions::fromPCL(cloud_accum_->header.stamp) : ros::Time(0);

neonavigation/safety_limiter/src/safety_limiter.cpp

Lines 689 to 690 in 963aadb

	const ros::Time stamp =
	can_transform ? msg->header.stamp : ros::Time(0);

Note: This issue is motivated from #421 (review)