Always run `move_base` on the main pc.

Currently, it was running on the same pc as the chest cam. This doesn't make sense to me (pointcloud is subsampled on the chest-cam, so traffic is no valid reason), and apparently hinders me from seeing its output.

In the same run, I gave the arguments more descriptive names. **The renaming might break people's custom launchfiles**. Renames that need to be made: 

```diff
- "with_camera"
+ "with_chest_xtion"
- "camera"
+ "chest_xtion_name"
- "camera_ip"
+ "chest_xtion_machine"
- "camera_user"
+ "chest_xtion_user"
```

Also needs TODO LINK TO OTHER PR to happen together with it.