reduced rgbd_shrimker
release compile for all nodes and keyboard_control node
kinect <far> tag changed from 3 to 6 meters; keyboard control set up
Simple door pass algorithm
Side switch
Some minor fixes
New 1 stage
New magic numbers
Prepare for refactoring
Divide stages
Door pass for ortogonal passage
Class for passage type recognition
Fixes in move and state for middle pass
General improve of approach door and new functionality
Work version.