fixes to ompl collision checker
Merge branch 'master' of github.com:vhwanger/monolithic_pr2_planner

Conflicts:
	monolithic_pr2_planner_node/launch/launch_node_debugger.launch
	monolithic_pr2_planner_node/src/EnvInterfaces.cpp
more ompl stuff
fixed stupid bug with incorrect goal state id, added stats writer
Different sampling for the MHA Heuristics.
Merge branch 'master' of github.com:vhwanger/monolithic_pr2_planner

Conflicts:
	monolithic_pr2_planner/include/monolithic_pr2_planner/StateReps/GoalState.h
	monolithic_pr2_planner/src/Environment.cpp
	monolithic_pr2_planner/src/ExperimentFramework/randomStartGoalGenerator.cpp
	monolithic_pr2_planner_node/include/monolithic_pr2_planner_node/EnvInterfaces.h
	monolithic_pr2_planner_node/src/EnvInterfaces.cpp