adding files from predicator for producing messages
adding predicates, updating header file and utility
adding discussion of predicates, world definitions
adding to readme; setting up example launch files
adding sample launch file, loading definitions from yaml files
configured wam setup files, adding more information for predicator, etc
adding predicator library; modifying buid; cleaned up predicator.cpp to
remove old code
fixed tf_conversions in CMakeLists/package
added entity loader function/library to germ_ros