Fix cloudgrabber RGBD callback not obeying PENDING
Fix cloudgrabber RGBD callback not obeying PENDING

Also use Boost sleep. The current sleep() calls don't do anything.

personalrobotics/trajopt,OdellDotson/trajopt,DeadSocks/trajopt,OdellDotson/trajopt,joschu/trajopt,joschu/trajopt,joschu/trajopt,OdellDotson/trajopt,DeadSocks/trajopt,OdellDotson/trajopt,joschu/trajopt,personalrobotics/trajopt,DeadSocks/trajopt,DeadSocks/trajopt,personalrobotics/trajopt,OdellDotson/trajopt,DeadSocks/trajopt,DeadSocks/trajopt,OdellDotson/trajopt,joschu/trajopt,OdellDotson/trajopt,personalrobotics/trajopt,personalrobotics/trajopt,DeadSocks/trajopt,personalrobotics/trajopt,joschu/trajopt,joschu/trajopt,personalrobotics/trajopt