Fixed a typo in the tabletop manipulation launch file.
Box manipulator now runs.

Still need to finish pick routines.
Should break into separate class files and a node file.
Still need to test.
Next: test placing.
Box manipulator should now work for placing.

Placing is working, but assorted other problems have
prevented a definitive test:
* Download server was being difficult. This appears to be solved, but
  not confirmed.
* The robot is identifying its own arm as a table/objects in some
  configurations, causing it to think it is in collision and making
  it refuse to plan. This should be fixed by self-filtering the
  input to the tabletop perception node
* The Kinect driver crash bug continues to be a pain.
Merge branch 'grasp-controller' of 192.168.0.150:/home/abby/ros/dev_stacks/cwru-ros-pkg into grasp-controller
Adds filtering to tabletop segmentation pipeline.

Uses the color self-filter to remove robot links to the input
of the tabletop object segmentation node. Hopefully this will
solve the issue of the robot think it's a table.
Fixed a typo in the tabletop_perception launch file.
Added pregrasp position calculation.

Cheated and used TFs. There might be a better solution, but this one works.
Still haven't done a full test of placing.
Still need to test pregrasp position calculation.
Still need to write grasp position/path calculation.