visualise_map functionality is duplicated

[heuristicus]

There is a visualise_map script in both topological_util and topological_navigation, both of which appear to display the same information, with duplicated code for interactive marker controllers. I think the script in topological_util should just instantiate the object that is used in topological_navigation so that changes to the visualisation affect both scripts. The one currently being used in the launch is the one from topological_navigation.