Merge pull request #328 from davetcoleman/execution_duration_rosparams

Made the goal duration margin and scaling optional rosparameters
adds compliance for mesa versions <9.2
Merge pull request #329 from bit-pirate/mesa_opengl_compliance

adds compliance for mesa versions <9.2
change name of param
Added option to rviz plugin to show scene robot collision geometry
Merge pull request #330 from davetcoleman/scene_robot_collision_option

Added option to rviz plugin to show scene robot collision geometry
fix #331