added initial version of robot_io package
rotated arm base by 45 degrees
cleaned up the CMakeList file
added methods to add/remove collision objects and update (publish) the global scene
cleaned up all launch files
added new method to the PickAndPlace class and cleaned up parameters
added/removed new parameters
removed the table
updated with moveit setup assistant to update to the changes in the originating xacro
modified home position for the simulated mode
chanded to the moveit simple controller instead of the pr2