Merge pull request #1 from ipa-rmb/master

Added software available so far and setup a grasp database
Merge pull request #2 from ipa-rmb/master

Added a camera registration component for putting the camera into the robot's tf tree
Merge pull request #3 from ipa-rmb/master

Added a scenario package with a launch file comprising the call to all components
Merge pull request #4 from ipa-rmb/master

finalized first draft of scenario level script and capability level scripts, extended a few components
First upload hermes_arm_kdl
Second commit
Pree error on kdl call service
kdl problems still remains
problems with passphrase
Robot moves correctly
Merge pull request #5 from ipa-rmb/master

modified fiducial
modified scenario launch file
Merge branch 'master' of github.com:ipa320/hermes into review-320
Merge pull request #6 from ipa-rmb/master

added a static transform from the marker to the world coordinate system
service for getting arm pose
Merge branch 'master' of github.com:ipa320/hermes into review-320
merge with 320
working on the scenario
working on scenario
checking in missing files