Merge branch 'master' of github.com:ipa320/cob_manipulation into review-320

Conflicts:
	cob_object_handler/include/cob_object_handler/object_handler.h
small changes
necessary for init ik_utilities
added launch file
minor changes from pr2 params to cob
makefile for service file gen
config file added
config file added
srv for config of the planner
Fix in the code
get the params right
Added an extern config file
add hack for tests
hack removed, changed node name in launch file
Merge pull request #12 from ipa-mdl/electric

Electric beta release preparation
Merge pull request #14 from ipa-mdl/electric

Master is now electric beta
Merge pull request #17 from ipa-mdl/electric

Electric
Merge pull request #18 from ipa-mdl/master

Fixed kinematics plugins
Merge pull request #20 from ipa320/master

before renaming branches
new geometry of collision object