Add exploration launch

launch/exploration.launch

+<?xml version="1.0"?>
+<launch>
+
+  <node pkg="iri_exploration"
+        type="exploration"
+        name="exploration"
+        output="screen">
+    <remap from="ana/map" to="/turtlebot/map"/>
+    <remap from="ana/move_base" to="/turtlebot/move_base"/>
+    <remap from="ana/move_base/GlobalPlanner/make_plan" to="/turtlebot/move_base/GlobalPlanner/make_plan"/>
+  </node>
+</launch>
+