Merge pull request #13 from ipa-fxm/master

Updates for manipulation part
updates on application
Update README.md
Update README.md
fixed initial thresholds for passthrough
Update README.md
Update README.md
initial commit
Merge pull request #18 from ipa-jsf/master

initial commit
fixed little bug
Update README.md
added parameters parsing
added comment
Merge pull request #22 from ipa-josh/master

some bugfixes for perception
Small typo error fixes and removed absolute path to xml file
merge
Merge pull request #26 from ipa-jsf/master

 	Small typo error fixes and removed absolute path to xml file
changed node class names
Merge pull request #28 from ipa-goa/master

changed node class names