Merge pull request #1 from fairlight1337/master

A lot of threshold fine tuning, error checking, and more failure handling
Removed dependency on cram-plan-knowledge because facts matching-process-modules et al. now come in with cram-process-modules.
Added convenience methods for making sure that poses are transformable nicely

Also, publishing poses is now easier from pr2-manipulation-process-module via `publish-pose`.
Corrected indentation, docs, and made pose publishing use new convenience fncs
Formatting, symbol export, and added import-from clauses for ROS output and ros-time
Made the `(to park)` designator fact more versatile
Adjusting margins, use of convenience methods
Use of convenience methods, and more output
Formatting, use of convenience methods
Fixed invalid stamps in pose-stamped messages for pointing the head
Improvement of grasping/placing code, convenience methods, formatting, docs
Improvement of grasping/placing code, added utility functions, convenience methods
Merge branch 'master' of github.com:cram-code/cram_pr2

Conflicts:
	pr2_manipulation_process_module/src/package.lisp