looks up transforms 0.2 seconds into the past in order to avoid tf empty cached issues
added tf_conversions header to convert from or to eigen data types
added tf_conversions dependency
added ATTACHED_OBJECT member to the configuration class in order to saved the details of the attached box payload
attaches the payload directly to the robot state and sets it as the start state in the move_group interface
slight modification to the instances when the payload is attached and detached
removed attached object link from robot arm
commented collision check flags for the attached_link_object
publishes diff message to planning scene in order to set the attached object state
omits include for simulated target recognition file.  This is only temporary while testing a new feature
clears the point cloud message before populating it with new data
removed moveit planning plugin
uses the GetMotionPlan service client in order to create a motion plan that is valid for the environment representation held by the move_group node.  This replaces the call to the 'move' method of the move group interface
removed height check
added touch links parameter
subscribes to point cloud topic instead of waiting for single message
changed static transform rate
reads touch links from yaml
reads touch links from yaml
prints debug info to screen