Add origin node to world description

This node contains the lat-long origin coordinates of the RNDF. All the coordinates will be referenced as local with respect to that origin instead of the center of all the waypoinst.

The tag should be inserted inside the plugin node as the following snippet:

```
<plugin name='rndf_gazebo_plugin0' filename='librndf_gazebo_plugin0.so.0.0.1'>
  <rndf>../example/darpa.rndf</rndf>
  <origin>30.3870130  -97.7276181 0.0</origin>
</plugin>
```

Where latitude is 30.3870130 and longitude is -97.7276181, both in grades. Elevation is 0.0 expressed in meters.

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