Merge pull request #37 from irvs/issue33

modified the wheel-chair model
Merge pull request #39 from irvs/issue33

added viewer for voronoi map
add and parallelize subtask
reuse ods
Merge pull request #40 from irvs/issue3

Issue3
add dependency(kobuki_msgs)
Merge pull request #41 from irvs/issue3

add dependency(kobuki_msgs)
change path name
Merge pull request #43 from irvs/issue3

change path name