Updated the CMakeLists and manifest to work with the catkinized versions of sbpl_geometry_utils and sbpl
Fixed the sbpl_manipulation_components to depend properly on sbpl_geometry_utils
Collision checking now includes and links against geo utils properly.
fixed the arm planner tests to include geo utils
Added sbpl to arm planner link libraries
Modified test files to use generic test function
Fixed spelling of geo utils library in CMakelists
Fixed CMakeLists in manipulation_components_pr2 to include geo utils.
Changed the voxelize function we are using, to use the new one (VoxelizeMesh instead of voxelizeMesh)
Improving the test files in the collision checker to be generic. Added launch files to include the params for the different arms.
Merge branch 'master' of https://github.com/bcohen/sbpl_manipulation into groovy

Conflicts:
	sbpl_collision_checking/src/group.cpp
Added voxels visualizations to occupancy grid.
(NOTE: About to try and change from arm_navigation distance_field to moveit distance_field
Baxter's left arm model. The shoulder is in collision at the moment and needs some minor tweaking. It looks good though!
Fixed the PR2 left arm model.
Small change in pr2 right arm model.
Added the base_link to the hdt_arm model
Added launch file for baxter and fixed both PR2 launch files.
Removed some debug lines from the orientation solver
Removed DEBUG define.
Added config file for ubr1