New package, for now just for running octomap with the nav stack

Transferred stuff from 3d_mapping, added args for resolution of octomap and map_server map file. Changed to move the scitos_2d_navigation package for localization. Would be really nice if someone with a robot could test this. You need to start the state_publisher before running this. Run by roslaunch octomap_launch octomap.launch map:=(PATH_TO_MAP)/map.yaml.