Cleaned up pause handling in ExecuteVFHMove
Remove goal updating from ExecuteVFHMove

I hope to move that functionality into VFH move server
Reduce obstacle check distance close to target
Update lvl_two_star to not use DriveToPoint
Added ObstacleCheck service message
Added logging to announcer.py
Added remap and param for ObstacleCheck in vfh
Added sample_detected outcome to servo_move
Moved sample_detected from MoveToPoint to...

ExecuteSimpleMove.  This simplifies the sample detection transitions
significantly.
Add sample_detected to all ExecuteSimpleMoves
Switch log messages to debug
Queue_size=10 for announcer interface pub
Switch to tf2 broadcaster, for list capability
Pursuit working with obstacle_check and...

also ExecuteSimpleMove properly implemented with new messages
Functional obstacle_check service in vfh_server
Switched visual_servo to use new simple_mover
Thank god, removed strafe dict from launch file
Clean up velocity parameters
Removed old params from launch file and pursue_