Stack/package reorganization to improve dependencies

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Patrick Bouffard repo owner created an issue

In the present version, very little care was taken to separate code such that unnecessary dependencies were minimized. For example, there are dependencies on kinect and asctec stacks/packages that are always needed even though the intent is to be more generic. This can be remedied by separating out packages (e.g. flyer_kinect) that are hardware-specific.

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