Make bayesian topological localiser use toponav map format

[marc-hanheide]

And ensure the launch file accepts a topic remapping for different topological maps.

[Iranaphor]

Is this still of interest for melodic or should this just be a consideration during the transition process to humble?

If so, this is a wider transition issue and should be encapsulated within #175 in which migration to humble should ensure toponav1 remnants are transitioned.