port to new interface for planners
Merge branch 'groovy-devel' of github.com:ros-planning/moveit_pr2 into groovy-devel
Merge pull request #20 from sachinchitta/groovy-devel

Modified pr2_arm_kinematics and tests for options struct added to kinematics_base
Merge pull request #21 from isucan/groovy-devel

port to new interface for planners
Merge branch 'groovy-devel' of github.com:ros-planning/moveit_pr2 into groovy-devel
white space fixes (tabs are now spaces)