Merge pull request #22 from ipa-goa-sf/master

implemented rotated bounding boxes
added srv for approach pose
Merge branch 'master' of github.com:ipa-goa/cob_environment_perception
switched to Shape msg
Merge pull request #23 from ipa-goa-sf/master

fixes for demonstrator
added TODO
merge
modified action msg for tableObjectCluster
added label color map
Merge branch 'master' into experimental
added a comment