Implemented regressive planner, working
Implemented variable effects

clean up
Proceed implementing ROSTopicCondition
Implement reachability for VariableEffects

Separate base classes from specializations in goap package
Reorder action class
Make WorldState the container for values of conditions

Memory becoming reality mockup for memory related conditions and actions
Fix ROSTopicCondition to need msg class
Reactivate ConditionTest
Move Memory class to inherting
Planner.plan() now returns a Node
Action.run() got a next_worldstate parameter
Add MoveBaseAction that calls an action client via actionlib
Begin PlanExecutor
Found difficulties..
Add cost() to Action and Node, now sorting nodes in Planner.plan()
Clean multiton nature in Condition
Fix MoveBaseAction and GOAPTestBumpered
Add start_worldstate to various methods to let actions optimize their variable precondition parameters
Reenable unittest assertion in ConditionTest
Add modules config_scitos and runner
Add introspection module to send node graph to smach_viewer
Clean __str__ and __repr__ methods
Minor print output changes
Change Runner methods and converted half of GOAPTestMemory to use a Runner
Convert GOAPTestBumpered and second half of GOAPTestMemory to use a Runner
Add introspection handling to Runner