Fixed a few things with launch files, still have work to do with them to get the live/playback modes working.
SensorProcessor was updated to provide a fake pose estimate so I can test MapManager without a working filter.
Created simple map manager that is able to save cloud to disk after a given threshold of clouds in memory. Later I will work on a smart threshold (based on available system memory) and better criteria for maintaining clouds in memory (based on my FLANN search results).