Sketched ROS-streamers.
Refactored ROS-streamer to use defstruct, and added doc-strings.
Refactoring: Cleaned up API of ROS-streamer.
Added error condition for ROS-streamer.
Moved ros-streamer into its own cl-package 'roslisp-streamer'.
Moved message conversion interface into its own lisp-package 'roslisp-interfaces'.
Fixed common lisp dependencies of roslisp-streamer.
Moved common lisp utilities in new common lisp package 'serapeum'.
Exporting symbols from serapeum.
Refactored controller-toolchain-experiments to cope with new internal package structure.
Updated some dependencies for completeness.
Exported symbols from roslisp-streamer.