Added a launchfile for taco tracker. Changed the point type to XYZI in the tracking node
Change point type to XYZ only.

Turning off the color coherance means we can except any cloud that has XYZ as a
minimum set of fields. The node can then run against kinect clouds with XYZ
(depth) or XYZRGB (depth registered) or Taco clounds with XYZI.
Fix up launch file.

* Start the TACO sensor node as well.
* Removed GDB running.
Merge pull request #14 from shadow-robot/F_taco_tracking

F taco tracking