Added PCL package with test of plane extraction

Use rviz to look at the published topic. Red parts are the extracted planes.
Plane extraction updated

Moved the PCL test into a proper node. Function for extracting
multiple planes from the cloud in progress. Currently extracts the
dominant plane of the cloud.
Started on writing more useful functions
Preliminary work on extraction of objects from planar surfaces. Sort of works
Moved some standard functionality to the utilities package
Some investigation of clustering
pcl_methods now publishes the extracted plane's coefficients
added skeleton for cube identification
added slow comparison of normals, need to optimize
optimized, added use of parameters
removed unncessary parts of plane extraction
added parameters and launch file. Now publishes a boolean
Merge branch 'pclmethod' into develop