Change mapping, traversibility paradigm

[S1ink]

• Properly handle lidar driver out-of-order scan stamps (no more spontaneous odom failures!)
• Add map cropping functionality
• Change mapping paradigm to be "FPV-prioritizing" (workaround for ghost points and surface blurring)
• Estimate normals in mapping stage for better efficiency and surface collision estimation
• Change traversibility to use point deltas rather than just gradients (properly handle obstacle scaling)
• Silence PCL warnings
• Improve LFD reliability
• Extend traversibility score to handle pathing failures in the future
• Expose path planning params
• Handle cases where path planning goals are unreachable

closes #49
closes #48
possibly addresses #46