Functions for maping and recovering map added.
Merge pull request #76 from marro10/master

Functions for maping and recovering map added.
Added function to recover the map and, in addition, refresh the occupancy grid that usually is shown on rviz
Merge pull request #77 from marro10/master

Added function to recover the map and, in addition, refresh the occupanc...
Merge remote-tracking branch 'upstream/master'
add argument to choose which phase to run.