First version of long term patroller

- The old version of the patroller is still here, just run it as before
- To run  the new long term patroller, you need to replace the smach in your system by trhe one just forked into the strands-project, then follow the same procedure as for the patroller but  use:

      roslaunch waypoint_patroller long_term_patroller.launch

  WARNING: When creating the waypoints file, the first waypoint should be the one in front of the charging station

- You can also use rosrun smach_viewer smach_viewer.py to see the state machine execution. Comments on its structure are welcome

-  I'll review the readme, improve some details and comment the code briefly