Added const to a bunch of String arguments.  (catkin_make just broke, so this might not compile.)
More String => const String conversion.
const char * => const String
Add visual flag to both Tag and tag announce routine.
const String => String_Const
Added log_file_name to fiducials code.
Added beginnings of logging.
Started adding Memory leak checking and map save/restore.
Some work on memory leaks.
Removed all the memory leaks in Demo.
More work on map save/restore.