Use correct package for ''rosify-lisp-name''
Make things for perceive calls a bit clearer
Nicify visualization for location costmaps in rviz

Old markers originating from former location costmaps were not removed before publishing new ones.
Use more sophisticated pose transform mechanisms
Merge branch 'master' of github.com:cram-code/cram_highlevel
Removed a dirty at-location hack and some old commented-out code
Fix for location costmap marker display
Merge pull request #28 from fairlight1337/master

Mostly cleaning up, fixing deprecation related warnings, and nicifying visualization