Added some members for maintaining a planning scene object
added collision checking apparatus
added dof member variable
made some modifications to try and address the issue where the visual marker does not update with the called to IMarker::move( ... ) command
made the imarker server a pointer, added reset marker fucntion but it doens't help; added a way to track the relative position of the arms wrt base
removed collision checking stuff, change to member varaibel from object to pointer
added launch params for designer for gdb debugg