fixes to PipeAlign, changes to transitions reverted, pipeDetector
gets turned on when entering PipeAlign, and turned off when leaving.
fixes to Pipe with checkpoints yml. Tested in simulator
Merge branch 'vehicle_refactor_2014' of https://github.com/robotics-at-maryland/tortuga into vehicle_refactor_2014
fixed stupid error that had been fixed before bizzare version control issue that git had