Extend and improve acre#2

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aardschok wants to merge 19 commits intoBigRoy:masterfrom

aardschok:FUS-32

Commits on Apr 9, 2018

Commits on Apr 10, 2018

Commits on Apr 11, 2018

refactored conflicting names
aardschok
committed

Commits on Apr 13, 2018

Delete launch files
aardschok
committed

Commits on Jul 4, 2018

refactored function names, extended docstrings
aardschok
committed

Commits on Oct 2, 2018