Better handle mismatch octomap

[KendallRanConley]

When there was a large difference between the size of the octomap
and the regualr map, amcl would endlessly restart.

Handle the bad allocation that results from mismatched octomaps.

ROS-816

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This change is 

[c-andy-martin]

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src/amcl/map/octomap.cpp, line 189 at r1 (raw file):

  }
  catch (std::bad_alloc){
    ROS_ERROR("Bad allocation hit when attempting to resize pose indices");

I think this is just hiding the real bug. The real bug is somewhere up above. Likely we are screwing up and getting the max < min so we end up crossing zero and getting a huge number for num_poses_. My guess of the real bug is that around line 143 we take max of 2 mins and min of 2 max, when I think we really wanted the min of 2 mins and the max of 2 maxes. If you can reproduce this, I would use gdb or add debug prints to confirm this, and fix the real bug, which would let the service keep working (even though it won't work just right, since the nav map and the octomap aren't agreeing much)

[c-andy-martin]

Reviewed 1 of 1 files at r1, all commit messages.
Reviewable status: all files reviewed, 1 unresolved discussion (waiting on @12tbuchman and @KendallRanConley)