Qrplanner synchronised with main code. Truncation applied to the code. Please don't merge as it has some minor differences with final version of code.
Parameter names modified
eired, but still some error in local planner, code is working properly but unable to publish final truncated target. Udai's code for shifting when target is on obstacle  merged in the same code (still needed to be debugged for boundary conditons).

Code in working condition.
Seg fault removed from planner. Truncate function for target inside the map needs to be repaired. launch file added for debugger.
Merge branch 'truncate' of https://github.com/yvshri/freezing-batman into yvshri-truncate

Conflicts:
	environment/sensing/logitech_camera/src/LogitechCamera.cpp
	planning/motion_planning/local_planner/seeds/seeds8.txt
	planning/motion_planning/local_planner/src/a_star_seed/load_given_seeds.cpp
	planning/motion_planning/local_planner/src/local_planner/__init__.pyc
	planning/motion_planning/showpath_debugger/src/debugger.cpp
Removed some syntax errors in changes brought to local_planner and restored it to a working state.
Merge branch 'yvshri-truncate'