Merge pull request #213 from reem-utils/chang_branch

Chang branch
Working version for all example sentences
Added category 3 and tags for what category is each sentence
Made the grammar even more exact to our use cases
Fix moving only to locations
Update minimals.gram
Added utensil word into the dictionary
Merge branch 'master' of https://github.com/reem-utils/robocup2014
Update drinks.gram
Update emergency.gram
Update deliver.gram
Update followme.gram
Update iam.gram
Update locations.gram
Update restaurantGuide.gram
Update what_did_you_say.gram
Added an example of doing Tf transformations
Adding wave_detection_sm.py, It is an SM that detects subscribes to the wave_detector topic, and returns the wave position