Adds IKFast solver for IRB-120.

Creates a new Forward and Inverse Kinematics solver plugin from
the OpenRAVE IKFast kinematics solver creation tool.

Solves inverse kinematics analytically instead of numerically,
which is less likely to fail and significantly faster.

Note that you must patch arm_navigation as described on
http://ros.org/wiki/Industrial/Tutorials/Create_a_Fast_IK_Solution/Prerequisites

Note also that there is a conflict with moveit, so you can't have
that installed.
Sets IK solver in OMPL planning config.
Changed frame for store object script.

Changed the frame for the store object script from /base_link
to /irb_120_base_link, but IK solver still doesn't solve.
Modifications to tabletop perception launch.

Commented out everything but the segmentation parts. It should
run now and output clouds for recognized objects, but this
is untested.
Adding vcg config for planning scene warehouse viewer.