Add map server #enhancement

[yashomdighe]

The racetrack repo has all the data to publish the png as a map. Add a mapserver to the launch files to launch the corresponding and publish its occupancy grid.

To do:

1. Add the map files
2. Add the launch configurations
3. Add transforms form map -> world

Bonus: Add the map to an rviz config

[yashomdighe]

Added for IMS in #23 Moved to #24