fix raycast service in mapping
NextNodeOfInterest returns now the complete path and not only the next node.
generalize raycast service to enable raycasts from other reference frames than robot.
encapsulate path in its own message, to be easily passable to goto controller
fix the line algorithm. runs now on grid not on robot coordinates.
extend fitblob service for all reference frames. Tested
Merge remote-tracking branch 'upstream/master'
remove testcase from graph
Merge pull request #64 from mlosch/master

Graph returns full path for NOI service. Fixed and generalized line algorithm in mapping.