Load robot model when setting up planning environment.
Add warehouse viewer launch files.

Patch by David Butterworth.
Move loading of robot model to files that need it.

Namely, for the specific cases of the planning components visualizer and default
warehouse viewer, which do not work with an already running robot (simulated or not).
Remove duplicate launch of robot_state_publisher.
Activate perception if RGBD sensor is available.

- Move from collider to octomap_Server.
- Remove old collider configuration file.
- Setup initial experimental perception configuration.
- We still need to add a snapshotter between the sensor stream and the processing.
Add Carmine 1.09 sensor ranges.
Add extra collision ops. when using RGBD sensor.

Disable collision between the head-mounted sensor and everything else, except
for what is downstream of the elbows.
Unify collision operations in a single file.

There is no simple and clean way to set collision operations from two files,
so a less-elegant monolythic specification has been chosen.
Switch to self-filter that outputs colored cloud.
Merge remote branch 'upstream/master'
Disabled collision checking for thumb extension.
Disabled checking between extension & palm/thumb, so may need to add other links too?
Should not be loading robot_description here.
This launch file does not typically load the robot_description, it may overwrite what has already been loaded.
Disabled collision checking: palm & 3rd digits.
This was still enabled, and causes problems with advance collision checking during grasp planning.
Disabled collision checking between more links.
Disabled collision checking between left/right thumb extension and more links that it will never reach. This YAML file is very big. The Arm Navigation Wizard could be used to re-generate the list, and then they should be manually sorted by 'object1' name.