Addes executive_frame parameter to launch files
Removed all '/map', now use executive_frame param
Do all transforms in executive_frame

Also handle tf errors, and cleaned up beacon approach to use
new executive_frame transforms
Added hide/show beacon, and cleaned up logging
Define pursue_samples with remap, and formatting
Oops, extra character
Exception handling for tf in util methods

Also, all util methods that transform do so in /odom by default
they can also take an argument to set the frame
New strafe class
ChooseNewLine more random than before!
Merge remote-tracking branch 'origin/sample_grasp' into smach_executive
Fixed angle hole, move to samplereturn
Merge remote-tracking branch 'origin/sample_grasp' into smach_executive
Switch to default topics
Merge remote-tracking branch 'origin/sample_grasp' into smach_executive
Initialize shutdown state
Merge remote-tracking branch 'origin/sample_grasp' into smach_executive
Wait for Odometry and JointState
Merge remote-tracking branch 'origin/sample_grasp' into smach_executive
Set mode to servo for visual servo