Fixed failing navigation tests

- Removed $defaultServiceConfig from ModuleManagerFactory
- Modified ModuleManagerFactory to add the ServiceListenerFactory
- Removed adding the ServiceListenerFactory from Application::init()
- Updated $defaultServiceConfig in ServiceListenerFactory to reflect
  changes needed for Console
- Fixed ZendTest\View\Helper\Navigation\AbstractTest to remove adding
  the ServiceListenerFactory (since the ModuleManagerFactory now does
  that)

test/Helper/Navigation/AbstractTest.php

@@ -129,7 +129,6 @@ protected function setUp()
 
         $sm = $this->serviceManager = new ServiceManager(new ServiceManagerConfig);
         $sm->setService('ApplicationConfig', $smConfig);
-        $sm->setFactory('ServiceListener', 'Zend\Mvc\Service\ServiceListenerFactory');
         $sm->get('ModuleManager')->loadModules();
         $sm->get('Application')->bootstrap();
         $sm->setFactory('Navigation', 'Zend\Navigation\Service\DefaultNavigationFactory');