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Changes for functionality in homer_exploration

Kevin Fischer requested to merge dev/depth_exploration into master

changes for functionality in homer_exploration: when the exploration node runs, it needs to receive constantly msgs from /projected_map, and not only when it is navigating. Also tried to resolve that the floor is not shown in /projected_map, by changing the value of min_range_z in line 161 (only when exploration is running), but has not yet worked.

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