Local metric map nodes: cloud_merge - processing depth & rgb frames / point clouds and merging them into room observations; cloud_register - utilities for ICP and NDT point cloud registration; semantic_map - creating and managing the local metric map, updating the map with new room observations, extracting dynamic clusters, maintaining the XML structure on the disk.
launch files
Removed intermediate saving of point cloud after registration (was used for debugging).
Added launch file parameters for configuring the saving of intermediate data (would be used fro debugging purposes)
Merge pull request #6 from RaresAmbrus/hydro-devel

Local metric map nodes: cloud_merge - processing depth & rgb frames / po...