Trial 11.

Turned off heading scoring.
Cut trajectoryplanner update rate to 8Hz.
Trial 12

Increased minimum spin in twist receiver to 0.8 rad/sec.
Trial 13.

Turned off dwa in base local planner (using trajectory rollout).
Trial 14.

Adds a new action to clear the arm out of the way of the kinect
before segmenting.
Trial 15.

Added info message to twist receiver to show when spin in place
commands are coerced.
Trial 16.

Set twist_receiver output to screen.
Trial 17

Slowed overall planner frequency to 8Hz.
Trial 18.

Changed gripper_body collision shape to cylinder that encompasses
gripper jaws.
Commented out debug statement in twist receiver.
Trial 19

Place now returns a success message when successful.
Trial 20

Increases pick timeout from 60 seconds to 120 seconds.
Decreases grasp approach to .75 * pregrasp + .25 * finger length
(from .75 * pregrasp + .5 * finger length).
Trial 21

Clear arm can now clear to the left or right.
If no objects are found with the arm cleared to the right, clear
to the left and try again.
Stow the arm after picking up objects.
Trial 23.

Downsamples pointcloud in self filter to 1 cm resolution.
Trial 23.

Downsampled robot self filter cloud and increased kinect data skip
from 3 to 10.
Trial 24.

Increasing move base update rate to 10Hz.
Trial 25

Increases planner frequency to 12 Hz.
Increases planner minimum turn rate to 0.8 rad/sec.
Trial 26

Cutting planner sim time to 2.0.
Trial 27.

Fixed a logic error in the demo script that prevented it from
moving the arm and retrying tabletop segmentation.
Merge branch 'demo' of 192.168.0.150:/home/abby/ros/dev_stacks/cwru-ros-pkg into demo