Should not be used anymore. Separated into multiple nodes such that each one does one thing.
Baxter movement function listens to a topic in which PoseStamped() messages will be sent.
New node created that listens to OpenCV and moves toward the object. Publishes PoseStamped() message to topic for baxter_movement.
New node created that listens to QR code topic and moves towards it. Publishes a PoseStamped() message to topic for baxter_movement.