Non-rviz mapping tool

We currently use rviz to map customer sites. This requires that we have usable ROS-based comms over links that might not support it well. For example, if the robot cannot resolve the user's hostname (which is technically true everywhere) and ALSO cannot reach (e.g., ping) the user's IP, then the robot will refuse to take goals issued via rviz.

To lessen the burden on the people doing the mapping, we should have a solution that doesn't require ROS comms between the person doing the mapping and the robot.

We should also discuss whether this tool could ever be customer-facing.