Updated the parameters of the near and far hole detectors.
The lidar occupied space pointcloud also does clearing in the costmap.

Melodic migration

See merge request !1

Change navigation params: inflation radius 0.5->1.0, decreased footprint size, increased path_distance_bias

Updated some of the configuration parameters of the navigation framework to improve its performance.

Removed the cmd_vel mux configuration file because it has been moved to the iri_ana_bringup package.

Removed the launch file for the pointcloud to laserscan converter because the one in the iri_rosnav package is used instead.

Update pointcloud_to_laserscan launch file: parameters load from params/pointcloud_to_laserscan.yaml file