Merge pull request #6 from fairlight1337/master

Merged several versions, plus removed unnecessary dependency to triangulate_point_cloud messages
[spatial rels] they are more or less working now

- some fixes for the slot cost function;
- using aabb-s instead of semantic map data as the owl and urdf of the semantic map are not consistent anymore.
The prolog code is very hacky but should be very easy to clean up.
Merge branch 'master' of https://github.com/cram-code/cram_physics
Removed double dependency
Merge branch 'master' of github.com:cram-code/cram_physics