Added a wait-for-transform before transforming pose into arm coordinates

A TF CACHE ERROR comes up regularly when not waiting for the correct TF transform here.
Changed grasp execution from execute-arm-trajectory to execute-move-arm-pose
Refactored put-down code for grasped objects

Major overhaul of put-down code and fix of a bug in execute-move-arm-pose (the verification of successful arm moves tended to fail for movements that took long). Grasp and put-down is now collision aware, using the motion planners and the collision environment. When placing objects, they are attached as collision objects to the robot's gripper(s). The selection of collision shapes could be refined, though. Also, executing arm-movements with the motion planners has to feature two different (ros) namespaces when executing multi-hand movements. This is still to be done.
Removed misplaced call to `(clear-collision-objects)'
Added function to check a path of different poses for planability

The `pose-path-valid-p' function checks whether a list of poses are executable subsequently without colliding with the collision environment (according to the planning environment server). Since CHOMP doesn't support pose constraints (yet), only OMPL is used for this checking.
Removed left-over debug info
Refactored the put-down code for objects in hand

The put-down sequence now consist of three steps (pre-putdown, putdown, unhand). The actual putdown pose is checked for validity using the motion planner OMPL as the pre-putdown and the unhand should be geometrically covered by that.

Also, several code pieced have been optimized for clarity, code style, line lengths and newlines. Transformations into other coordinate frames are being done where necessary. A rudimentary collision object (cylinder) is used for grasped objects as long as we don't have the correct meshes for the objects at hand.
Code refactoring, addition of failure handling, correction of fixed offsets
newest-designator -> current-designator

The designator shown here does not necessarily impose valid perception data and so could be (unwantedly) nullified when used in the newest-designator predicate.
Correction of fixed grasp offset poses
Extended the execution of grasp poses and simplified frame conversions
Added the `location' symbol for designator purposes
Refactored the pose planning validation function and fixed execute-move-arm-pose

The execute-move-arm-pose is temporary as the *real* underlying problem isn't clear yet.
Added dependency on the `cram-moveit' package

As the motion related capabilities now will be executed using the CRAM/MoveIt! bridge `cram-moveit', cram-pr2 now depends on it.
Refactored grasping-related code to work with containers and MoveIt!

Incorporating the MoveIt! related functionality now solves movement of the PR2 arms. Also, container related grasping (and grasping in general) is refactored to

a) include more information (relative and absolute handles are handed through the functions)
b) Opening of containers was introduced (up to a given angle, this still has to be refined)
Refactored grasping and put-down-code for reasoning capabilities and simplicity

Much more is checked now during grasping and putting down. Also, made transformation for grasping and holding an object more clear. Plus, added automatic collision model attachment/detachment to the robot into the grasping mechanism.
Using the new moveit collision environment capabilities now
When determining optimal grasps, object information is used for collision control now

Also, cleaned up the overall process of calculating grasp poses a bit
Adapted most of the code to use the moveit movement arm code instead of manual IK based movements

Completely removed the IK/FK code and will remove left-over IK/FK code successively.
Refactored grasping- and putdown-execution methods

Using the moveit features to execute both actions now