resets octomap and collision objects
replaced set 0bject world for reset_world
calls the reset_world method, added planning scene publisher
publishes planning scene message
waits for transform before lookup
removed attached_object_publisher from input arguments
removed attached_object_publisher from input arguments
publishes to planning scene messages with the world changes
removed the attached_object_publisher input argument from the th pick and place box functions
removed back_wall_2 object since it was causing issues with tf
modified with setup assistant to reflect changes in urdf file