making table_link local var rather than class var, since it's only used within the function as a temporary frame
Minor cleanup of import statments
Commenting cleanup to reflect D's notes on the pull request.
Renamed var to be clearer (table_points -> table_corners)
if len(..)==0 is bad according to google python style guide.
changing it to use implicit false.
Now the result_lock also protects the has_data flag.
Merge remote-tracking branch 'origin/lel-feature-ork-actionlib-server' into feature-ork-actionlib-server