Park path test 1
Manual_control_node sets MODE_ENABLE on preempt
Manual_control now sets PAUSE, then exits ENABLE
Bresenham line algorithm for level_two
Removing obsolete costmap config and test
Costmap remap for blocked path checking
Attempts to fix shutdown issues:

Execute state machine in separate thread.  Remove all
threading.Condition variables. rospy.spin in __init__
Removed calls to move_client after shutdown

Seems like a good idea, but doesn't seem to fix shutdown
hang issues.
rospy.spin() after starting smach wrapper
Stop smach introspection on shutdown
Make sure robot_simulator stops robot on zero call
Added path blocked checking to level_two_random