Enabled robot plugin in config
New interface for all components: const world_model instead of map of entities
Fixed iterator typo which caused infinite loop
Can add relations
UpdateRequest has stricter interface; WorldModel internals finished; compiles but not tested
Can change entity shape, type and pose through update request
Transform cache works; working on graph search
Working on graph search
Entity relations can be added; transform graph search works
Added test
Added profiling test
UUID is now a class
More difficult graph search test
Reduced number of includes; compiles faster
Cleaned up config
Merge branch 'feature/tf-graph'