Merge pull request #40 from cdondrup/hydro-devel

Bug fix: subscribing before creating the action server led to errors d...
Merge pull request #41 from cdondrup/hydro-devel

Catching service exception for reconfigure.
Merge pull request #42 from cdondrup/hydro-devel

Cancelling the gaze goal if move_base is successful.
Merge pull request #43 from cdondrup/hydro-devel

Refining behaviour
Merge pull request #44 from cdondrup/hydro-devel

Putting things together.
Removed the game and lights for now.