Added robot_mask package

With this package, it is possible to get a binary mask that corresponds
to the robot from a specific (camera) frame.
Added fixed frame ros parameter
Made robot_mask c-turtle compatible
Set MIRROR parameter in robot-mask node
Added service to triangulate point clouds
Use the convex hull instead of full triangulation

This gives much faster results, ugly though.
Fixes to cram_physics to make it work in electric
Fixed use of KdTree in triangulate_point_cloud.
Depending directly on `pcl_ros' as otherwise necessary headers are missing in groovy
Changed the function `reconstructMesh' so that it works with the new PCL version

Type names for the new PCL version and the overall process of calculating a convex hull changed. This is now reflected in `triangulate_pcl.cpp'.
 added fixes for hydro
updated triang_point_cloud to work with new pcl and arm_nav_msgs -> shape_msgs
deprecated stuff fixe for robot-mask package

we should probably just get rid of this...
Moved TRIANGULATE_POINT_CLOUD from CRAM_PHYSICS here preserving history.
Moved ROBOT_MASK from CRAM_PHYSICS here preserving history.
Moved VISIBILITY_COSTMAP here from CRAM_PHYSICS.