Modified launch file to load robot_description, which is standard method for an arm_navigation package
Added standard launch file to load the Arm Planning Warehouse Viewer in Rviz, which is self-contained without requiring a Gazebo simulation
Modified YAML config files to easily test different IK solvers for each planning group
Modified YAML config files to easily toggle FK solver between default (ROS TF) and plugin's FK method
Added launch file to load the Arm Planning Warehouse Viewer while running a Gazebo simulation
Added prototype of launch file to load the Arm Planning Warehouse Viewer with real robot
Added extra launch file to load Arm Planning Warehouse Viewer in Rviz, with right_arm planner instead of right_arm_torso planner