Added the head sensor that will be publishing only when the robot gets stuck
Changed heights of head sensor
Added the sensors to the planning
Added the head sensor the be activated when needed
Merge remote-tracking branch 'upstream/hydro-devel' into hydro-devel
Merged the latest changes
Changed the maximum height of obstacles added from head so that they can be cleared from chest sensor
Only having head observations in one layer now
Forgot to remove the sensor inputs from the normal obstacle layer
Removed cliff detection from the head sensor since this can cause problems
Changed some thresholds mostly
Forgot to remove the cliff sensor, which is not there anymore
Merge pull request #40 from nilsbore/newtry

This adds an extra obstacle layer in the local costmap that can be used for backtracking