robot state display tutorial -- random motion

Code to go with the tutorial here:
  http://moveit.ros.org/wiki/index.php/Groovy/RobotStateDisplay/C%2B%2B_API

Moves robot arm to 5 random locations.
Then moves arm to 20 specific locations around a circle in front of the robot.
Merge pull request #9 from acornacorn/groovy-devel

robot state display tutorial -- random motion