Fixed descriptions, made transformation ensuring faster, made actionlib-reconnection safer, raised times for motion planning attempts
Add details about grasp decisions
Allow highlighting of links, fix an endless loop in connection, and formatting
Disable logging when no connection could be made. Also, allow to toggle enable.

Further connection attempts towards beliefstate logging services will be dropped when one connection failed. This is based on the assumption that when one connection failed, the beliefstate logging mechanism is not running (and would generate faulty data anyway if one call fails). This way, further calls won't cost the system valuable time in order to wait for a service that won't answer (default duration to wait for a single call: 0.3 seconds). The 'service enabled' state can be toggled back on (or off) using the 'toggle-logging' function.
Corrected the last of the hooks for cram_beliefstate to use `define-hook'
Fixed a bug that would always return `nil' when checking for IK validity
Merge branch 'master' of github.com:cram-code/cram_bridge
Fixed a nasty bug that made all logged failures result to the generic "CRAMFailure"
Merge pull request #6 from fairlight1337/master

Better control over beliefstate logging, fixing of bugs in cram_moveit, improving logging hooks