Updated ompl planning configs per tutorial.
Several changes related to amcl localization.

Fixes a typo in glennan_2_2012-12-08.yaml.
Removes initial position from amcl_diff.launch.
Moves abby's nav config files to abby_config.
Creates amcl and nav launch files for abby and modifies teleop_localization
to point to new amcl launch file.
Fixed typos in localization launch files.
New utitlity slow_spin spins at .5 rad/s.

This utility was needed to test odometry on ABBy for spinning in
place because the teleoperation controls are too sensitive to
reliably spin in place.

Also moves the drive_ramp utility to the cwru_utilities package.
Reorganized amcl_diff.launch.

Parameters are now grouped and ordered as they are on the ROS wiki
page.
Changed alpha parameters in amcl launch file.

Parameters now match ros amcl wiki page recommendations.
updated rviz config.