Increased the frequency of the obstacle avoidance cloud
Only looking for the transform after getting the cloud now
Small changes
Restoring publishing frequency, I'll try it out later
Merge pull request #37 from nilsbore/cliff

Changed stuff in the cliff detection to remove printouts and make it cleaner. I'm merging this since it's a simple one.
Merge remote-tracking branch 'upstream/hydro-devel' into hydro-devel
Merged the latest changes