small changes to person detection
added bwi_rlg dialog agent source
Merge branch 'master' of https://github.com/utexas-bwi/bwi_experimental
changed some referring expressions to help with addition of map to MTurk experiments; moved Kazunori's office
Merge branch 'master' of https://github.com/utexas-bwi/bwi_experimental into jivko_branch
continued work on people detector
improved logging of detected humans
Merge branch 'master' of https://github.com/utexas-bwi/bwi_experimental
small change
Merge branch 'master' of https://github.com/utexas-bwi/bwi_experimental into jivko_branch

Conflicts:
	pcl_perception/src/background_person_detector.cpp
minor code improvements
changed initial referring expressions for drs on floor to names
small changes to launch file
Merge branch 'master' of https://github.com/utexas-bwi/bwi_experimental into jivko_branch
removed some of the test programs that don't need to be compiled
add a new task for taking guiding requests from human
multi-thread enabled
Passed tests in simulation
randomized room selection, added timeout to deal with people who leave without notice
added compiled jarfile for semantic parser