-Added Transform_listener
-Added qr_global_loc node to place the station and the robot in the same TF tree

Completed the main state machine with joint_cartesian and gripper modules to move arm and open or close grippers.
For the moment a hard-coded point for joint cartesian module is given.
Added a search for small qr.

added tracking and action module for tracking and sitting states
in process of adding joints cart module