Fixed off cost map log messsage
New map and config file for testing
Added DriveToPoint, removed blocked outcome from:

ExecuteSimpleMove.  DriveToPoint uses obtacle checking properly
Removed commented level_one node launch, and...

obsoleted params from level_two
Removed 'blocked' outcome in manual control
Improved sim rviz config
Debug marks at beacon approaches, moved samples
Removed 'blocked' outcomes, added pursuit_strafe
Return home uses DriveToPoint now, big changes