Handled the error case when the grasp_analyzer is asked to analyze a
grasp on an object that doesn't exist
Strip any leading /s before looking up object names. They shouldn't be
there, but the caller might accidentally keep them if translating the
name from a TF frame
Stop adding a leading forward / to the main name, but keep it for the tf frame
Refactored creation of name dictionary to be more robust and report
errors in finding the desired resources
Added missing module include that is needed post catkinization
Added debug output and drop in to debugger for when planner string fails
to run in cbirrt plugin
embarrassingly, cbirrt plugins insist on strings, ros returns unicode
strings, and this causes cbirrt to fail
More robust regeneration of ik model if it is not there