[navigation] Set global_costmap to use static_map with initial empty.pgm file

[l0g1x]

As of right now the global costmap is a rolling window, meaning the map moves with the robot. We need to set static_map to true, and rolling_window to false and add the map_server node into the gazebo.launch file.

• Pass a empty plain white .pgm file to the map_server as a arguement on very first time
• Set up map_saver to save the entire map (global_costmap) to that file that we loaded into the map_server, so we use it as our static_map on the following run.
• set the origin of the static map so that it matches up with the course (not x=width/2 , y=length/2)