Restructuring aStar stuff.
Added build directories to ignore list.
Finished shuffling code around, need to test!
Clean up some of the EKF code and correct some errors. Hopefully the coordinate reference frames now all match up.
Add barcodehandler class
Add waypoints_reached topic and improve some code logics.
New node launches!  Now to test...
Merge branch 'astar_shuffle' of github.com:corobotics/corobots into astar_shuffle

Conflicts:
	corobot_comm/src/client_comm.py
	corobot_comm/src/robot_nav.py