Removed old import from cram-plan-knowledge
Use new init function registering mechanism
Removed unnecessary init function
Added missing dependency to roslisp_utilities
Fixed publishing of poses
Allowed automatic waiting for transformations following direct transformation of poses
Mostly code simplification
Added protection handler cases, simplification, formatting, code maintenance
Fixed logging, made use of new ensure-functions, fixed optimal grasp strategy calculation
Added dependency on cram_moveit
Made optimal grasp calculation faster
Better failure handling and collision checking when doing pick and place
Ensure pose stamped
Added logging for head movement
Improve pick and place action primitives for PR2
Merge branch 'master' of github.com:cram-code/cram_pr2
Correctly remap failure cases when doing putdown
Forgot an apostrophe
Cleaned up and restructured the pr2_manipulation_process_module

Old code went into the `graveyard.lisp' file for now. Moved a lot of functions around, removed unused trajectory-related functions (since cram_moveit handles IK data structures now), and added output where appropriate.
Hook-definition corrected