More fixes to linking

Apparently, the designator_integration/DesignatorIntegration link should
not be done manually, but is handled by catkin completely. Removed the
manually added references.
Added skeleton files for prediction plugin to beliefstate
Equipped prediction plugin with services
Extended skeleton files, filled service callbacks with more life
Prepared everything for model loading and prediction.

The actual format for prediction models must still be decided, but all
services for loading and the actual prediction are set up.