Disabled a trajectory filter.

This trajectory filter is probably the cause of the filter failure,
which in turn causes a move_arm_simple_action crash (see ROS answers
53344). Additionally, the move_arm_simple_action should be changed
to not crash, but error gracefully in this situation, but that will
require editing another stack (I will submit a patch).
Fixes store object coordinates.

These coordinates are tested/working.
OOP'd the arm actions.

Stow arm is now a class with a main method that runs the class's
method to stow the arm.

Store object is now a class with a main method that runs the class's
method to drop an object in the bin. Also added the gripper to the
store object method.

Neither of these are yet tested on the robot, but both are syntactically
good.
Started on arm action server.

Still doesn't work/do anything. This action server will probably
not implement feedback, at least not for a while, making it more
like a service server. I chose to make it an action server to
allow feedback to be added in the future.
Wrote a Hand Posture controller for the gripper.

Still untested, but should work.
Added gripper configuration files.

Gripper bounding boxes in gripper model should be correct.
All other parameters should be correct.
Still untested.
Merge branch 'master' of 192.168.0.150:/home/abby/ros/dev_stacks/cwru-ros-pkg
Hand posture controller runs.

Still need to test it with the other components, but it now compiles
and runs.
Disabled the robot self filter.

robot self filter was using 100% CPU for some reason and since it
does not output colored point clouds, it cannot be used for
tabletop segmentation anyway.
Created a utility for testing out the tabletop detector.
Merge branch 'tabletop-perception' of 192.168.0.150:/home/abby/ros/dev_stacks/cwru-ros-pkg
Merge branch 'grasp-controller' of 192.168.0.150:/home/abby/ros/dev_stacks/cwru-ros-pkg