Fixed bug that can cause segfault.
Added an extra check, so if request_models=false when calling tabletop_object_detector, this node will not try to read the null cluster_model_indices and segfault.
Fix empty field in the response message.
The collision name was not being included for each graspable object in the response message.
Removed hard-coded confidence threshold for models.
The confidence value is read from the min_marker_quality param, as used by the tabletop_object_recognition node. If the database returns a lower confidence value, then the model fitment is good.
Fixed comment