Introduced logging features from cram_uima

Semantically, it doesn't make a difference whether `robosherlock_process_module` or `cram_uima` call the logging functions for perception. As the process module does some post-processing on the received data (proper formatting of designator structures, cleaning of old results with a too-old timestamp, transforming of pose-msgs into proper pose-stamped structures), it makes much more sense to let the process module log the post-processed results. Content-wise, this doesn't change the data received and logged, it just puts it into a much easier to process (think KnowRob/Open-EASE) format. Also, no old results in the logs.