Topic/minor improvements

Hi,

This pull request brings in some minor fixes/improvements to perception_blort, mostly:
- Change default build from Release to RelWithDebInfo
- Add a few ostream operators and improve others
- Actually publish all positions if the option is activated
- Rename PublisMode to PublishMode
- Fix compilation on ubuntu 13.04 (or, more likely, gcc >= 4.7)
- Change Pose publication to PoseStamped