SBCL is now a debian dependency; replaced all dependencies on roslisp_runtime, and removed all dependencies on deprecated stack roslisp_support.
Bug-fix: Forgot that debian dependencies are declared differently under rosbuild.
Added deprecation warnings to methods moved to new package roslisp_utilities.
Merge pull request #1 from airballking/master

SBCL is now a debian dependency, and functionality now in roslisp_common is deprecated in cram_highlevel.
Merge branch 'master' of github.com:cram-code/cram_highlevel into groovy
got rid of obsolete CLJLO and CLJLO_UTILS packages
moved YASON and TRIVIAL_GRAY_STREAMS into the cram_3rdparty repo.
got PERCEPTION_PROCESS_MODULE out of the way
moved VISIBILITY_COSTMAP into CRAM_PHYSICS

it has a dependecy on BULLET_REASONING
little bugfix for cl_json_pl_server
Merge pull request #3 from gaya-/master

little bugfix for cl_json_pl_server
Added macro and adjacent infrastructure for defining policies during plans

In order to define a policy for use while plan performance, three code blocks and a list of parameters must be supplied:

(define-policy object-moved (object)
  (:check (format t "Testing for movement of object ~a~%" object)
          (do-object-checking-here)
  (:clean-up (format t "Cleaning up~%")
  	     (do-clean-up-here))
  (:recover (format t "Recovering~%")
  	    (do-recovery-here))))

During a plan, call it like this:

(with-policy object-moved (?obj)
  (do-plan-actions-with-policy-awareness))

The parameter `object' defined during definition of the policy is replaced by `?obj' during the call of `with-policy' and is available as `object' to all code blocks of the policy (currently `check', `clean-uo', `recover').

`check' is called whenever the policy is checked for triggering.
`clean-up' is called during the clean-up-phase of unwind-protect (so it is called either way)
`recover' is called when the policy gets triggered before the main body of `with-policy' is completed.

If the main body is completed without the policy getting triggered, only `clean-up' is called and should be treated like that. `with-policy' returns the return value of the main body. If a policy is referred to that was not defined before (i.e. does not exist), a plan failure of type `policy-not-found' is signalled.
Merge branch 'master' into groovy