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Add New Mapping Interface and Environmental Model #18

@bpwilcox

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@bpwilcox

Support an extensible framework of map representations via a Mapping Interface and incorporate relevant static, dynamic, object, and semantic map data into an Environmental Model to be used by map dependent algorithms.

First aim is to support & refactor grid-based map representations such as grid_map, occupancy grids, and costmap_2d with further aim to support interface for other tree/node-based representations such as octomap.

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