Fixed comment describing incorrect variable.
- IMPORTANT FIX: Added subscription to OpenMORA variable "NAVIGATORREACTIVEPTG3D_CMD" to stop the reactive navigation when requested by other modules/user.
- Implemented a new option to generate the PTGs in a folder with the name of the robot, instead of using the default current folder. The name of the robot can be set using the parameter "robotID" in the "CommonParams" ProcessConfig of the ini file.
-Also removed some unnecessary subscriptions.