Fixes the robot segmenting the arm as a table.

Uses the color robot self filter to preprocess point clouds before
sending them to the tabletop segmentation node.
Progress on object picking.

Can calculate frames for picking when only one of the object dimenions
is valid.
Still need to validate frames for when both object dimensions are valid.
Arm navigation is still failing.
Kinect data looks like it's improperly registered
Fixed gripper position in URDF and XACRO.

Gripper orientation is now approximately correct.

Also created a utility to publish dummy gripper states.
Muleing files off the robot with git.