fix cylinder rendering correction
Merge pull request #200 from sachinchitta/groovy-devel

Groovy devel
Merge pull request #201 from acornacorn/groovy-devel

fix cylinder rendering correction
some refactoring in preparation for completing the place action
added services for loading/saving occupancy maps
Merge pull request #203 from jonbinney/groovy-devel

added services for loading/saving occupancy maps
release lock when loading octomap from file fails
Merge pull request #204 from jonbinney/groovy-devel

release lock when loading octomap from file fails