Object picking now mostly functional.

Grasp does not move from pregrasp.
Kinect issue prevents further progress.
Added gripper tip tfs.
Merge branch 'grasp-controller' into kinect-arm-alignment
Merge branch 'grasp-controller' of 192.168.0.150:/home/abby/ros/dev_stacks/cwru-ros-pkg into grasp-controller
Merge branch 'grasp-controller' into kinect-arm-alignment
Added camera calibration files to repo for safe keeping.

The yaml files in abby_config/config/camera should be in ~/.ros/camera_info
for correct kinect calibration. They are copied here as a backup.

It is possible to explicitly specify camera calibration file location
in launch files, but that would give these preference over the default
calibration if the kinect hardware is ever replaced. As such, I'm using
the default location (~/.ros/camera_info) and just keeping these as a
backup copy.
Fixes arm location.

The arm was offset by several cm in the x direction and a few mm in the
y and z direction. Corrections were made by taking the x and y coordinates
from the kinect and lidar respectively and by lowering the arm as far as
possible and measuring the distance from gripper tip to floor to correct
the z.
(All coordinates above in /base_link frame.)
Fixed kinect and arm frames.

Kinect now publishes frames for rgb and depth in the correct
place. (curse you willowgarage).

IRB-120 has been moved and rotated to reflect the fact that the rail it is
mounted to is not actually vertical. A more complete fix would be to rotate
the whole frame in the model to be correct, but this will do for now.
Added some kinect utitlities.
Merge branch 'kinect-arm-alignment'
Adds air tanks and warning light.

Air tank and warning light are in the model as simple cylinders.
This should prevent the robot from colliding with them.
Merge branch 'grasp-controller' of 192.168.0.150:/home/abby/ros/dev_stacks/cwru-ros-pkg into grasp-controller

Conflicts:
	cwru_abby/abby_description/urdf/abby_no_arm_macro.xacro