Merge pull request #71 from BFALacerda/master

small enhancements
[waypoint_patroller] fixing incorrect log level (debug was error) #74
Adding check for pointset in database. #74
Merge pull request #75 from cburbridge/master

checking that supplied waypoints exist
[waypoint_patroller] adding exception when waypoints not found. #74
Merge pull request #76 from cburbridge/master

[waypoint_patroller] adding exception when waypoints not found. #74