Moved all occlusion-finding parameters to launch file.
Moved launch file to pcl_utils. A few assorted edits.
Update README.md
Update README.md
Added additional messages for grasp finding (table bounding box, points above table, etc.).
Merged peter into master.
added open/close gripper to arm.cpp
Merge branch 'master' of https://github.com/gkahn13/pr2_eih_ros
good plane params