added collision_avoidance_pick_and_place package
replaced all instances of collision_avoidance_pick_and_place to robot_pick_and_place
replaced all instances of collision_avoidance_pick_and_place to robot_pick_and_place found in files
renamed pick_and_place_config class to the more convetional name scheme PickAndPlaceConfig
added grasp planner server, GraspPose.srv service definition and corresponding service client in the pick_and_place node
added robot_model_config package containing all xacros and urdfs
adds new files to the build
approach and retreat moves are created relative to the grasp pose
added new dependencies for the graps planner
uses new moveit config package for ur5 with 2 finger gripper
added new moveit config package for ur5 with 2 finger gripper
added object_manipulation_msgs package