fix to issue #3 , Using outdated xacro file for motoman sia20d arm
recreated files in moveit package in order to use tool0 instead of tcp
made the load_parameters() method into public
find_surface() method returns false if no points were added
changed the return type of ScanCallback to void instead of bool
prints error message when point cloud was not recieved
moved location of scan trajectory
loads parameters for surface detection
uses the surface detection and surface server classes