working code
set trash service has robots transfer trash properly
merge shawn changes
some changes to the processor
seems to work great
Merge branch 'master' of github.com:SquadCollaborativeRobotics/global_planner into at_improvements

Conflicts:
	src/AprilTagProcessor.cpp
Fixed some tf_prefix stuff
Added april tag type to robots, changed all tf from 'map' to '/map'
Added launch files for python launching script.
Merge branch 'at_improvements' of https://github.com/SquadCollaborativeRobotics/global_planner into at_improvements
Tested Launch Files.  Working
Changes to human interface node
Merge branch 'at_improvements' of github.com:SquadCollaborativeRobotics/global_planner into at_improvements
more human interface stuff
made some changes to the waypoint file reading, moved functions around, and changed the isFinished() function
Added global planner pose arrays
Changes to the QueryRobots code
added services. need tested
Fixed service communication bug
Compiles. Not finished -> still needs to have better logic to go to goals/waypoints