Launch full sim with no tables etc.

* Gazebo seems to run stable when started from launch file now. No  need to
  manually start an empty world.
* Moved the table, suitcase etc into their own launch file for now.
Launch file for complete demo.
Some docs in the launch.
Add rviz config.
Merge pull request #10 from shadow-robot/F_launch_cleanup

Some basic cleanup on the launch files and added new rviz config (seems to have changed format and file extension in groovy).