Trial 27 (as run).

Adds frequency multiplier between move_base and twist_receiver.
Trial 29.

Sets up for manipulation only testing.
Trial 30.

Added a pause after moving arm, before running segmentation.
Trial 31

Reduced table padding to 1 cm (from 2 cm).
Trial 33

Manipulation controller now uses proper place location in bin.
Apparently I had edited this in the wrong file (which I deleted in
the previous comit.)
Trial 34

Added retry to pickup (moves on to next object if first fails).
Added respawn to gripper node so I can kill it.
Trial 36

Removed a stray reference to the pregenerated urdf instead of the
xacro.
Trial 39

Fixed grasp angle for boxes that are only pickable along the y axis
Realligned arm.
Trial 40

Arm finally aligned. Successfully picked a box.
Trial 41

Reduced collision padding to 0.05.
Removed IRB-120 link 1 from self filter (it's not in the FOV)