adjusted cluster threshold so small objects can be closer together without being improperly joined
moved environment publishing stuff back to update_environment_service. it now fits bounding boxes to collision objects.
removed openni launch and camera calibrator stuff. Those can now be found in youbot_camera
update_environment_service optional parameters are now handled properly
updated service definition comments
Merge branches 'groovy-devel' and 'boxed' into groovy-devel