Major commit for multi_map / coffee framework.
Changes:
1) config/multi_map/* contains new doors and locations files.
2) domain/multi_map*.asp contain new facts file as well as small changes to other asp files
3) launch/multi_map*.launch contain two new launch files to run a multi_map demo
4) In action_executor_coffee.py added a choosefloor action.
5) In atom_coffee.py Added choosefloor to list of actions
Merge branch 'master' of https://github.com/utexas-bwi/bwi_experimental