Groovy dev

Here are the changes for using catkin as build tool. CMakeLists.txt are converted to work with catkin and package.xml files are created from the information of the manifest.xml files. Also a meta package for perception_blort is added. The meta package is located in the sub-folder perception_blort and is a replacement for the stack.xml from the base folder.

Version numbers in the package.xml files need to be set to the right values.