Merge pull request #8 from acornacorn/groovy-devel

fix package name in tutorial launch file
minor fix for how the gripper controller works
robot state display tutorial -- random motion

Code to go with the tutorial here:
  http://moveit.ros.org/wiki/index.php/Groovy/RobotStateDisplay/C%2B%2B_API

Moves robot arm to 5 random locations.
Then moves arm to 20 specific locations around a circle in front of the robot.