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"[Map Manager] Add Services"

Niko Schmidt requested to merge 17-map-manager-add-services into master

Added services for #17, but their functionality is not yet implemented. Please give feedback if the input and output of the new services are the expected ones (especially the geometry_msgs/PoseStamped input for SetMapPose). I used the existing messages and C++ code as a basis. @raphael @buchhold @mmints @thomasweiland

Edited by Niko Schmidt

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