Catkinized cram_moveit
Added moveit_msgs as dependency
Added tf2 messages as dependency
Introduced TF2 functionality as supported by the new tf2 implementation in roslisp

Also, cleaned up several interfaces and generally removed old, unused code.
Merge branch 'master' of github.com:cram-code/cram_bridge
Cleaned up UIMA interface a bit
Greatly cleaned up and enhanced the MoveIt! interface and fixed a few
minor bugs in other packages
Cleaned up cram_moveit file structure
Readded logging-capabilities to json_prolog service calls
Fixed some output, added checks for collision matrix entries
Differentiated planning and execution of motions

Planning and executing motions can now be told apart in the log files.
Shortened console output
Add timeout
Additional dependencies for cram_beliefstate
Failure handling logging, and new hooks for additional movement and object identity resolution log callbacks
Retailored UIMA interface to fit the current perception system

Also, performance improvements
New beliefstate logging hooks
Two new features: Go to specific joint value setting, and process maximum tilt
Introduced locks for preventing preemption, added output, added pose validity checks
Moved prediction-related functions into their own file, as they start to get numerous