Merge pull request #10 from mateiciocarlie/groovy-devel

Switched to Catkinized household_objects_database and new Grasp message
made kinematics_plugin_name param

This is a port of Kaijen's commit 55280 from the old SVN; it's in
Fuerte, but got lost in translation to Groovy.
Merge pull request #12 from mintar/plugin_name_param

made kinematics_plugin_name param
added dependencies on newly catkinized stacks