use pcl::convexhull function instead of an own function.
use convex and concave hull both. when pointcloud is too smal (<3);
dont calc hull, but use the raw points as object outline.
also added small hack for determining colission while avoiding
some minor changes
removed old convex hull function, added pcl::convexHull usage
small launchfile changes
small change in speed check in publishCmdVel
added manual target waypoint to gui
and changed testmap in 4x4 empty map