export transform in message, find center of bounding region rather than centroid
add thread for republishing chess_board transform, name pieces better
fix piece placement, update poses of gripper/head, use proper height, remove captured pieces from planning scene
fix lack of timeout on remove/add
Merge pull request #10 from mikeferguson/single_transform

Ensure that board/pieces use same transform, also includes a number of fixes for better piece localization and proper grasp locations.