added attached collition link parameter
added service client for calling target recognition service
added attached link name variable
initializes service client
publishes filtered cloud only once"
added threshold for minimum detected height
removed all publisher publish() calls since none of them had any effect on the attached object collision avoidance
reads attached link name ros parameter
added back wall and attached object link to arm.  substituted the 'include' keyword with 'xacro:include' since it is now deprecated in hydro
added attached object link to tcp frame
restore the longest fraction time value to its default
reduced link padding
updated with moveit setup assistant