undesirable use of sensor_msgs::PointCloud.msg

[jurriaanvoskes]

The use of the PointCloud.msg is not recommended by the ros community, as this type is limited in use. the PointCloud2.msg or pcl::PointCloud is recommended instead.

The obstacle_detector and localnav should be re-factored to use one of these, instead of the PointCloud currently used.
This could also improve performance, as the pcl has certain useful functionalities built-in

[jurriaanvoskes]

Obstacle detector has been fully refactored to use pcl.