Good set of parameters for Pot segmentation.
 - using this set of parameters, it seems computed Pot pose
   doesn't oscilate so much.
Pot localization policy considers the Pot projection on the table.
Robust Pot localization
 - manly relyed on Pot print parameters' detection.
Pot localization without separate Pot wall segmentation
 - got rid of the segmentation whish suppose to isolate
   the Pot point cloud.
 - rely only on the segmentation based on circle fitting
   withing Pot base print.
Code tidy up.
 - got rid of some obsolete ROS publishers
More verbose code.