Provide packages for different set ups for the move_base node

[francocipollone]

Summary

• move_base for mapless navigation. (No map, no amcl, just move_base action)
• move_base for slam gmapping navigation (+ map saving)
• move_base with map + amcl.

Some of this work is already done in the Noah simulation repo, however, for the purpose of the workshop, would be ideal to have very simple and separate examples for each case. Complex launch files aren't part of the workshop.