Minor changes

- More descriptive comments useful when doing parallel plan
- Feature to allow color console output (stolen straight from MoveIt!)
Ok, but you'll also need the escape code for "no color" to restore the default color. Even with that, we can't assume that every possible outputHandler knows how to correctly handle ANSI color codes. You are assuming the messages are printed to a terminal. In the omplapp GUI they are printed in a log window. The Qt text widget completely ignores ANSI codes.