fairlight1337/cram_gazebo — pull request #1 by moesenle (2012-09-18 16:53:15+00:00)
Title: Huge refactorings to make perception work.

I deleted a lot of your code in the process module and cleaned it up. It is working now. Test it with:

```
(top-level
(with-process-modules-running
(point-head-process-module:point-head-process-module
gazebo-perception-pm:gazebo-perception-process-module
pr2-nav-pm:pr2-navigation-process-module
pr2-manip-pm:pr2-manipulation-process-module)
(with-designators ((mug (object `((desig-props:name mug)))))
(perceive-object 'a mug))))
```