removed unused task source files
removed unused files from build list
removed attached_link_name parameter
displays octomap from planning_scene
removed and rearrange unused pick and place config members
brings up move group.  Need to do this in order to clear octomap updater
removed call to setStartStateToCurrentState
added timestamp to published message
does not populate collision matrix entry names list
no longer calls the robot state related methods
removed unrelated comment
removed unused commented lines
removed attached link name member
increased shape padding to 0.02
does not call move_group