Updated ignore collision checking flag
Introduced logging hooks
Opening of grippers before grasping for reasoning purposes
When going into carry pose, take the object in hand into account as collision object
Updated grasping techniques
Initially empty version of new process module for the pr2 using the feature constraints controller.
Finally, a truely minimal process module. ;)
Basic functionality to call single-arm motions with the feature constraints controller is there.
Refactoring: Got rid of dependency on constraint_msgs.
 Got rid of dependency on cram-projection for pr2-navigation-pm. Now using predicate cram-plan-knowledge:projection-running to check for running projections.
 Got rid of dependency on cram-projection for point-head-pm. Now using predicate cram-plan-knowledge:projection-running to check for running projections.
 Got rid of dependency on cram-projection for pr2-manip-pm. Now using predicate cram-plan-knowledge:projection-running to check for running projections.
Further streamlining and adding to the new pr2-fccl-pm. Almost there in terms of a minimal process module.
Added debugging capabilities
Merge branch 'groovy' of github.com:cram-code/cram_pr2 into groovy