Creates a new package for launch object manipulation.

New package is abby_object_manipulation_launch.
Creates object manipulation launch files.
Merge branch 'grasp-controller' of 192.168.0.150:/home/abby/ros/dev_stacks/cwru-ros-pkg into grasp-controller
Manipulation prereqs launch runs.
Creates abby_objection_manipulator package.

Object manipulator inexplicably includes hardcoded references to the
PR2 kinematics solver, so I forked it and hardcoded those references
to my own kinematics solver.
Made use of probabilistic grasp planner default false.

Probabilistic grasp planner requires a grasp database, which
we do not have at this time.
Added collider to manipulation launch and set config.
Changes tabletop perception to use unfiltered cloud.
Forked the tabletop segmentation launch file.

Launch file for tabletop object segmentation did not allow x-y-z
filtering parameters to be passed in as arguments. Forked the
launch file into abby_object_manipulation_launch so I can edit
these values.
Merge branch 'master' into grasp-controller
Merge branch 'master' into grasp-controller
Merge branch 'master' into grasp-controller
Fixed a typo in tabletop perception launch file.
Started object manipulation controller.

Controller can call the segmentation service and send the results
to the collision map interface.

Controller then takes graspable objects from collision map and
attempts to each one to the object manipulator to pick up, but
this does not yet work. I need to stop and reorganize launch files
because they're getting ridiculous.
Regorganized tabletop manipulation launch files.

tabletop_manipulation.launch now launches everything needed to
launch the whole tabletop manipulation pipeline, including the
manipulation controller.

manipulation.launch doesn't include tabletop components, and would
be used for future development of a more generic manipulation
pipeline.

To start manipulation app:
1. roslaunch abby_launch abby.launch
2. roslaunch abby_object_manipulation_launch tabletop_manipulation.launch
Fixed a typo in the tabletop manipulation launch file.
Started writing a box manipulator.

The box manipulator is a drop-in for the pr2 manipulator node, but is designed
to work on boxes and is designed for Abby's parallel plate gripper.

So far:
* Written all the callbacks
* Written all the task queuing

Still to do:
* Calculate approach vector from bounding box parameters
* Calculate pregrasp position from approach vector
* Calculate final grasp position from pregrasp position
* Put in all the necessary python imports
* Test everything
* Modify launch files
* Modify object_manipulation_controller to call these services
More development on box manipulator.

Added imports.
Added approach vector orientation.
Still need pregrasp position and constraints.
Still need grasp path and position.
Merge branch 'grasp-controller' of github.com:evenator/cwru-ros-pkg into grasp-controller
Added main method to box manipulator
Box manipulator now runs.

Still need to finish pick routines.
Should break into separate class files and a node file.
Still need to test.
Next: test placing.