Creating plans for reacting to commands

[alex-mitrevski]

Potentially related to #155

Once b-it-bots/mas_knowledge_base#16 is merged and we have a decent model of our lab, it would be good to be able to test our robot's planning capabilities by giving at least simple commands to it (e.g. bring me a bottle of water).

We could do this using Mbot or by extending the mdr_command_robot package with the ability to understand simple commands (e.g. without pronouns).