Switch back to the point cloud topics used on robot
We focalize on Pot detection
 - do the point cloud processing relative to the ikea_table frame
 - call only the algorithms for Pot localization
 - define new volume of interest arround Pot
TODOs:
 - the need of a point cloud transformer which should allow point cloud
   processing relative to an arbitrary reference frame
Refactoring
 - PopcornCookingUtensilsDebugger became CookingUtensilsDebugger
From Pose to PoseStamped
 - the volume of interest send trough a designator must be described
   by two stamped poses
Send the name of the processing frame to the processing function
 - the idea is to reduce at minimum TF usage
   - anyhow we need TF in order to have flexibility in processing the point clouds
     relative to different frames.
Volume of Interest and Point Cloud of Interest relative to the same reference frame - processing frame
 - the point cloud received is transformed relative to the processing frame