Some obstacle avoidance tweaks.
Merge branch 'master' of https://github.com/corobotics/corobots
Merge branch 'master' of https://github.com/corobotics/corobots
Fixed goal zone creation in A* search.  Zone size temporarily very
large.
Also some changes to output of various nodes (qrcode now uses ROS_INFO,
apf uses ROS_DEBUG throughout).