Updates from Groovy Branch

New Overwrite Methods
updateMap method
Fix for #68
Fix for inflation memory problems
InfIsValid #128
Static layer can recieve updates and accept non-lethal values
Map Server can serve maps with non-lethal values
Obstacle layer uses track_unknown_space parameter
Footprint layer is not longer created as top-level layer (used as part of obstacle layer instead)
Improved Global Planner
Better handling of frame param in MapGridVisualizer
Cheat factor for end of DWA Plans