Setup initial gitignore.
Initial import of FRW to MoveIt scene converter.
frw2scene: make sure 'Fixtures' tag exists in FRW.
frw2scene: add support for cylinders.
frw2scene: add support for spheres.
frw2scene: add support for colours.
frw2scene: add support for fixture offsets.

This makes it possible to correct the position of converted fixtures
relative to the URDF world origin. If the robot in the FRW is not at
(0, 0, 0), the exported MoveIt! scene will not be correct, as all
object positions are specified relative to the URDF (0, 0, 0).
frw2scene: support specifying a scene name (instead of 'noname').
frw2scene: check offset parameter before use.

Make sure user has used correct format.
frw2scene: notify user if using offsets.