first rough implementation of rpcz ros server
moved ros init node up higher
fixed initialization of rpcz server so no longer affected by race condition
updated ros_server to exit if rpcz thread dies
created ros_interface with is used by the rpcz services
fixed graspReachabilityChecker
moved tests to tests directory
added ability to save grasp rpcz requests to use for integration testing, also fixed object recognition to work correctly
fixing merge
fixed object recognition to call moveit_model_rec_manager rather than model_rec2 directly