Add navigation to mdr_find_object_action

[minhnh]

As discussed, one of the first steps towards completing the project is to add navigation to the current FindObjectSM state machine. To do this, the following activities should be helpful:

• To familiarize yourselves with how to use the navigation API, please first try to run move_base_action_client_test, giving it a known navigation goal.
  • After booting up Lucy, the arm action server may fail to start. There's a special script you can run to restart all services, which can be run by executing the alias restartservice (defined in ~/.bash_aliases on the lucy account)
• Follow how the MoveBaseAction is used in PickupSM to implement something similar for mdr_find_object

As a first step, you may want to use a list of hard-coded locations to run a mock-up test in the FindObjectSM.