Modification to use intermediate point clouds instead of generating them from RGBD images
Added launch file parameter generate_pointclouds for cloud_merge node specifying whether to use the RGBD images from the sensor to generate point clouds or whether to use the point clouds generate by the openni driver directly
Added launch file paremters to specify ros topics for input point cloud, input rgb image, input depth image and input camera info
Changed types of launch file parameters to bool
Added functionality to check how many instances of an observation have been saved, and remove some of them if there are too many
Added max number of instances per observation as a launch file parameters and made cleanup of the saved semantic map information false by default in the launch file
Automatically deducing the patrol run number and room id based on previously saved data
Handling the case when the observation point cloud is empty - should only happen if the camera isn't running
Update README.md
Merge pull request #22 from RaresAmbrus/hydro-devel

Added max number of observations and deleting of old data. Removed the need for the log_run_name parameter. Fixed bug when the observation point cloud is empty.