Added a lidar clearing source with a PointCloud2.

See merge request !1

Added local configuration files for all depth camera related nodes.

Changed some configuration parameters:
* global costmap resolution: to 0.05 to improve the quality of the global plan.
* inflated obstacles radius: to 0.5 to allow navigation in narrow passages.
* planner frequency: to 1 to replan when temporal obstacles appear on the path.