Set up for final demos.

Separated amcl seeding into separate launch files.
Fix in setup launch file.

Made seed includes point to abby_demo package instead of abby_launch.
Increases gripper padding.
Decreases self see filter subsampling.
Increases pregrasp->grasp motion.
Makes segmentation rerun until an item is successfully stored.
Adds a launch file for the right side start position.
Increases planing attempts from 5 to 10.
Alignment for new kinect.
Arm planning configs.
Moved base link into urdf.
Changes to manipulation scripts.