Set /map as default move_base reference frame,
added CalcRandomGoalState and get_random_goal_smach,
added latch to WaitForMsgStates.
task_move_around now uses own WaitForMsgState with latch.

And import cleaning.
And one comment for move_base.
Merged WaitForMsgState and WaitForMsgStateX into one class, improving functionality.
Moved classes WaitForMsgState and CheckSmachEnabledState to util.py.
Added get_current_robot_position and get_transform_listener.
Made timeout a parameter for WaitForMsgState and implemented true time checking.

And renamed parameter 'additional_output_keys' to 'output_keys'.
Merge branch 'master' of git://github.com/felix-kolbe/uashh-rvl-ros-pkg