Change Action.apply_adhoc_preconditions_for_vareffects to Action._generate_variable_preconditions

And minor code tweaks
Integrate autonomous behaviour loop into tasker/GOAP

Add autonomous goap loop to tasker
Add various goal generators
Add usability to goap.Goal
Add test script MultipleGoalsStarter
Add test GOAPTestMemory.testRunnerMultipleGoals
Make PlanExecutor.execute() accept an introspector
Add pathprefix override parameter to Introspector.publish()
Make Runner propagate preemption request into generated smach
Improve MoveBaseAction and ARM_POSE_* definitions
Change cost defaults and assure heuristic do not overstimate actual costs
Merge GOAPPlannerState and GOAPGoalsState into GOAPRunnerState
Remove super() usage for consistency and compatibility with standard smach library
Remove old documentation graphs
Rename GOAP to RGOAP
Add test RGOAPTestPreconditionEffectSymmetry
Split package rgoap into rgoap_smach and rgoap_ros

moving user code to uashh_smach
cleaning dependencies
Add ROSTopicAction as specialization of Action
Extend common_ros_test accordingly
Extend SmachRGOAPTest to test SMACHStateWrapperAction
Make teleop_twist_keyboard_arm_cam.py ignore JointState message from wheels
Make RGOAP use python's logging module and rgoap_ros bridge that to ROS' logging
Move Runner's retrying logic from plan() to update_and_plan()
Change task details in tasker
Update RViz config