Complete Octomap support

[mauricefallon]

• render using latest version of octomap in director
• add support and controls to UI e.g. change color modes
• switch remaining uses from octomap_raw_t to drc_map_octree_t
• have the map server renderer use new rendering code, but also be able to access polydata
• Have map server publish color octrees. (Will need to check on ROS/Exotica side)

Issue: Drawing only a portion of the height of the octree is not available through the Octomap rendering code. (e.g. to remove the ceiling of an octree). It was available previously with the gtk version

MAP_DEPTH - heightmaps, depthmaps
MAP_OCTREE - octree + transform map_octree_t
MAP_CLOUD - point cloud

POINTS_COLLECTION
OBJECT_COLLECTION

OCTOMAP*** - octree + transform octomap_raw_t

General publishing of point clouds to UI doesn't exist
MAP_OCTREE and OCTOMAP render different things

• different messages