ROScopter gcs and standalone sim

[JMoore5353]

ROScopter gcs uses RViz to visualize the waypoints. We use the same layout file for the "standalone sim" visualizer as we do for the gcs. This layout file handles subscribing to the waypoint object messages (for displaying) that rviz_waypoint_publisher produces. Launching both at the same time is not necessary, since both use the same layout file, so both will populate with the waypoints.

TODO:

• We need to move the rviz waypoint publisher node into the launch file for the roscopter_sim launch.
• We should make sure that the visualizer can display and clear waypoints properly (see Clearing waypoints on ROScopter path manager and other applications #16 )
• Correct the documentation that describes launching the gcs in sim.