Revert "remove depend to map_server for groovy"

This reverts commit f3c6420bafd2bfa8b2b25427389b2caae0f016cd.
Revert "Trimmed the branch to only the jsk_ros_patch/multi_map_server sub directory"

This reverts commit 71d70911c1c998989add70e311ea3e874e7da7a0.
Rebase from 'upstream'
Trimmed the branch to only the jsk_ros_patch/multi_map_server sub directory
remove depend to map_server for groovy