moved VISIBILITY_COSTMAP here from CRAM_HIGHLEVEL
got rid of dependencies on ROSLISP_RUNTIME and ROSLISP_SUPPORT
updated the linking flags stuff for cl_bullet (thanks Alexis)
cherry-picked Lorenz's fix for bullet

from commit caa956605a90ce70b6522d6a32e09317f0f6ff5e
minor fix for cl_bullet + updated gitignore