Demo 1.

Added min spin filtering to twist receiver.
See Lab Notebook for results.
Demo 2

Reduced goal heading tolerance from .5 to .25
Results in notebook.
Trial 3

Decreases obstacle cost to improve table approach.
Results in notebook.
Trial 5.

Changes escape velocity from -0.2 to -0.4.
Trial 6

Decreases goal heading tolerance from .25 to .125
Trial 7.

Moves return point to a more accessible place.
Trial 8.

Increases gripper padding to 0.1 meters.
Trial 9.

Moved spin speed multiplier to after all speed checks. This should
improve turning, particularly spin-in-place.
Trial 10.

Moved message about going to table in demo script.
Merge branch 'demo' of 192.168.0.150:/home/abby/ros/dev_stacks/cwru-ros-pkg into demo