Revert "remove depend to map_server for groovy"

This reverts commit 638df486c23a5a43f770e5053f804ddf6e81bd7c.
Revert "Trimmed the branch to only the jsk_ros_patch/multi_map_server sub directory"

This reverts commit a724d458d04ea68a1a9eb7a83b9a1fd0a2cd73a1.
Rebase from 'upstream'
Trimmed the branch to only the jsk_ros_patch/multi_map_server sub directory
remove depend to map_server for groovy