made layers have thier own footprint
Revert "made layers have thier own footprint"

This reverts commit a9b825c95dfa8dc2846112a92750d21c94ab501e.
made layer be published individually
made move base report on which global planner is used and made planner report sucessfull planning
Merge branch 'hydro-devel' of https://github.com/hdeeken/navigation into hydro-devel