Fix to nav_layer_from_points setting cost the position of cliff_detector/points

[h-wata]

Summary

nav_layer_from_points setting cost the position of cliff_detector/points

Detail

• Subscribe topics when publish not only depth but also points.(9e2cd26)
• To fix the position of cliff_detector/points from the depth camera frame.(ad5d7d9)
• To fix move_base died when clear costmap service, nav_layer_from_points override from CostmapLayer.(b140155)
• by above, nav_layer_from_points can generate the cost at the position of cliff_detector/points.