Merge pull request #244 from reem-utils/chang_branch

Chang branch
added speech states in get_person_desired_object
All emergency situation now has messages acording to what it, does now. Further work required
Merge pull request #245 from reem-utils/fix_sergi

Fix sergi
Merge pull request #246 from reem-utils/chang_branch

Chang branch
Merge pull request #247 from reem-utils/chang_branch

Chang branch
Merge pull request #248 from reem-utils/chang_branch

Updating face_topic_reader
Merge pull request #249 from reem-utils/chang_branch

Chang branch
Updating what_say_sm for person detected pose
Updating recognize_face.py, now it requests a preempt if a face is detected
Updating the newly created nav_to_coord_ud
Updating the search_faces_SM, now it has more natural behaviour as it moves its head and speaks during the searching process