Merge pull request #4 from rmb-om/master

working table demo for cleaning
Merge pull request #5 from rmb-om/master

status after schunk expert days, tool change positions well
Merge pull request #6 from rmb-om/master

PnP with toolchanger now working
upadated some launch files
cleaning up code
removed old version of chromosome
added some hacked files
added new version of chromosome with app. in examples
added moveit config for autopnp cob3-2b