moved MAKE-CONSTANT-HEIGHT-FUNCTION to LOCATION_COSTMAP

it's really general.
added a GRIPPER-LINK dummy predicate.

It may be useful for excluding collisions between the robot's grippers and objects that the robot is trying to grasp
Merge branch 'master' of github.com:gaya-/cram_highlevel
[plan_lib]: got rid of todo comment: solved it in CRAM_ENV_REPR.
[plan_lib]: added some debugging comments.
Removed PERCEPTION_PROCESS_MODULE, it's in CRAM_EXPERIMENTAL now.
more fixes for catkinization...
[semantic_map_costmap] renamed (NEAR CENTER) into (CENTERED-WITH-PADDING 0.5).
indentation
[plan_lib] merging Jan's fixes
Went through plans with Gaya, nicifying code, improving failure handling greatly

The object manipulation plans are much shorter and more elaborate in failure handling.
Merge branch 'master' of https://github.com/cram-code/cram_highlevel
[plan_lib] missing counter reset.
Merge branch 'master' of github.com:gaya-/cram_highlevel
Removed CRAM_PLAN_TRANSFORMS. They migrated to CRAM_EXPERIMENTAL.
moved MAKE-CONSTANT-HEIGHT-FUNCTION to LOCATION_COSTMAP

it's really general.
Merge branch 'master' of github.com:gaya-/cram_highlevel
Merged Gaya's pull request, fixed costmap visualization, and removed debug info
Merge branch 'master' of github.com:cram-code/cram_highlevel
Removed superfluous do-retry when re-perceiving from near