DIrectrory names now human readable. Moved implementations from helpers.h to new created helpers.cpp
removed object recognition server from launch file
Removed old object recognition code
Forgot to remove object recognition callbacks
Demonstrations are now stored in the users home dir instead of the current directory.
Adjusted object recognition wait time
Added moveRobotToHomePos
Made trajectory slower. Preempt and send new trajectory.
Adjusted getCurrentStepNo. Seems to work now!!!
Tried to fix getCurrentStepNo