Exported the `compute-ik' symbol from cram_moveit, for external use
Added doc strings to functions, and made some code formatting clearer
Made code a bit slimmer and fixed a copyright comment
Functions for executing trajectories, planning multiple poses, motion length

The function `execute-trajectory' now executes known trajectories right away (and pays attention to the error codes returned by MoveIt!). `plan-link-movements' checks for the validity of moving towards a given list of poses. It fails when one fails, succeeds when all succeed (great for checking if your robot can go into pregrasp, grasp, and lift pose for grasping an object). Also, added a function to calculate the length of a given trajectory (e.g. to calculate the cost of executing a certain movement).
Fixing a lot of ugly hacks and integrating interface for new functionalities

A lot of functionality (like re-publishing logged designators) is now part the actual C++ beliefstate logger. Also, support for new functionalities is introduced (like setting the meta data for an experiment). Parts of the hooks that are called during task execution are already replaced by the more CRAM-like `define-hook` callbacks. More to come.
Replaced a `tf:wait-for-transform` by a more dynamic structure that refreshed the poses' timestamp as needed.

This might seem like a hack, but for the case supplied the timestamp does not really matter (as timing information is determined separatly for the movement). So, this is just fixing the code from hanging in a place while waiting for a transform forever.
Made the code a bit nicer.
Merge branch 'master' of github.com:cram-code/cram_bridge
Straightened init function registration (and removed unnecessary functions)
Save planning scene message to be published when node is not yet started
Finally got rid of a style warning talking about an unused variable
Built the interface for the interactive object beliefstate plugin
Added support for interactive callbacks from interactive objects (plus symbol exports)
Removed old code
Added hook for published collision objects
Migrated another set of hooks to the new `define-hook` method.
Forgot to remove unnecessary debug output.
Introduced functions for ensuring a pose transformation and simplified code

The ability to transform a pose via tf can now be ensured using `ensure-pose-stamped-transformable`. To ensure that a pose is actually transformed, `ensure-pose-stamped-transformed` is available.
Function for ensuring transform is looked up, and catching invalid motion plans
Added functions for conveniently starting and ending experiments