Map Server untidy

[slaghuis]

The map server reads the sensor data, converts it to a point cloud (UFO Map proprietary) and publishes a map. This is just messy. Rewrite the map server to listen to a sensor_msgs::msg::Pointcloud2 and read that into the UFO map. Publish the map on a set frequency.

Write a new node (consider a separate package) to read the sensor_msgs:msg::range sensor information and publish that as a sensor_msgs::msg::Pointcloud2 message. This will be better architecture, and more generic.