Took grasping to the next level. Lots of optimization, lazy-lists usage, failure handling

Grasp assignments (solutions for the gripper/handle assignment problem) are now calculated using lazy lists, greatly improving performance during execution (the respective 'next' solution is only calculated when the current one doesn't work). Different grasp types can now easily be added, like the top-slide-down grasp already inserted next to the 'standard' grasp type.

Also, failure handling has been optimized and added where necessary.
Added hook for optional external gripper effort specification
Added hook for after closing the gripper when grasping an object
Improved some pose handling
Greatly enhanced object handling during pick and place
Take object reorientation into account
Added hooks, fixed failure handling
Catkinized navigation package and exchanged the navp controller call with CRAM internal controller structure (from cl_control_primitives)

This saves us from the actionlib failures (hangs/freezes) during navigation
Removed a left-over function
Use multidimensional controller (x y theta) for base navigation control
Revert "Catkinized navigation package and exchanged the navp controller call with CRAM internal controller structure (from cl_control_primitives)"

This reverts commit c3a2c3f102727fae879370ef470181a7223f8a84.

Conflicts:
	pr2_navigation_process_module/src/process-module.lisp
Removed old, unnecessary dependencies on kinematics_msgs and arm_navigation_msgs
Merge branch 'master' of github.com:cram-code/cram_pr2
Removed more old dependencies
Removed more old code
Removed more old dependencies and added extra links for the new f/t sensor
Forgot to remove the kinematics_msgs-srv dependency
Reordered and cleaned up most of the grasping code
Added TODOs for moving object attaching and detaching to the correct places
Removed old graveyard file