Calculate strafe search moves properly

Store points in odom, calculate move in base link!
Replaced loginfo with logdebug
Debug points for strafe_search tests
Removed square_search_step override
Slower vel and accel for simple moves in pursue
Simple driving node

Drive to a point using strafe maneuvers.
Removed confusing 'replanning' from DriveToPose
Added params for visual_servo timeouts
Throw TimeoutException, else return remaining move
SimpleActionState waits on pause, and can continue
Only publish debug map if subscriber exists
Removed debug marker publishing
Added path markers to simulation
Merge branch 'strafe_to_sample' into smach_executive
Made planner mode a launch file arg
Added params to allow ignoring cameras
Removed node_params logging message
Removed now unused class: StartReturnHome
Cleaned up pursue_sample exit, and result msg
Added precached sample id, for important check!