Revert "publishing to topic now works with arbitrarily large constant effectively making it an infinate loop."

This reverts commit ac3ff16c59240ef31d2aa9468f34b577a141b07c.
import module for dijkstra
commented out dijkstra so the map file errors wouldn't happen
ready to accept map when .yaml is fed to it
deleted superfluous, executable files that never should have been comitted
deleted cluttering print statements, verified __name__ function funs when called by name
ready for map whenever it's ready for it!