Factored out perception process module
Moved COP-OCCASION-HANDLERS back into kipla
Some fixes in new perception_process_module package

Package imports were not quite correct yet
Moved jlo related stuff of look-at into process module

This makes dependencies slightly cleaner
Moved all process module conditions into separate package

The need to be known by the plan library
Merge branch 'master' into modular_executive

Conflicts:
	stacks/cram_highlevel/cram_plan_library/src/plans/achieve-object-manipulation.lisp
	stacks/cram_highlevel/kipla/.gitignore
	stacks/cram_highlevel/kipla/kipla.asd
	stacks/cram_highlevel/kipla/manifest.xml
	stacks/cram_highlevel/kipla/src/packages.lisp
	stacks/cram_highlevel/perception_process_module/src/cop/cop-search-handlers.lisp
	stacks/cram_rosie/jlo_navp_process_module/jlo-navp-process-module.asd
	stacks/cram_rosie/rosie_executive/CMakeLists.txt
	stacks/cram_rosie/rosie_executive/src/package.lisp
Perception process module needs pr2_msgs because of tilt scanner signal
Added semantic map object perception

Sort of faked at the moment but suitable for Tom's pr2 actions.
Return perceived-object parameter per default in semantic map objects
Made fake-semantic-map support in perception work

Currently only knows 3 drawers and the fridge and uses the tf transforms
published by the kitchen model.
Fixed object-belief to not require a jlo
Added cop search handler for plate
Perception package exports
Added fake perception that just returns hard-coded poses
Bug fixes in semantic-map handlers
Don't fail when no refinement was found
Quick hack to really trigger rete productions on perceptions

This is not ideal since it makes assumptions on the object designator.
The rete production system needs to be fixed instead.
Removed debug message
Exported OBJECT-ID
Renamed PLAN-ERROR to PLAN-FAILURE