made the MoveGroup, GraspActionClient and TransformListener into members of the PickAndPlace class
removed collision and attached object publishers and associated variables
removed collision and attached publishers and associated variables
modifies the allowed collision map and publishes the planning scene message as a diff
changes when the set_attached_object method is called
changed the size of the gripper_body
reduced the longest valid fraction segment parameter
added ATTACHED_OBJEC_LINK_NAME and PLANNING_SCENE_TOPIC variables
filters box even when height found fails to meet the desired threshold