Better name for the function publishing parallelepipedic bodys.
publishCylindricalBody ( ... ) became displayCylindricalMarkerInRviz ( ... )
publishPose ( ... ) became displayPoseInRviz ( ... )
Pot Handles in two separate point clouds && Cleaner Debugger
 - a lot of parameters changed their names while trying to
   be more verbose
 - a lot of comments try to explain the intentions behind the code