Merge pull request #53 from hawesie/hydro-devel

Adding support for giving the robot days off.
making sure there is always at least a small probability of reaching action target nodes
Merge pull request #54 from BFALacerda/hydro-devel

making sure there is always at least a small probability of reaching act...
making sure some initial node is given for the expected time
Merge pull request #55 from BFALacerda/hydro-devel

making sure some initial node is given for the expected time
Reconnecting on nav start and returning empty responses correctly.