Pal-robotics Changes

I'm going to merge these fixes even though the action server needs a lot of work to no longer be robot-specific (need to load settings via yaml). It would be great if you created this feature. Otherwise, the action server is a great contribution, thanks!

I'm merging this now because I want to separate the visualization tools away from the block_grasp_generator and I didn't want your changes to get too far out of sync.