removed incorrect pcl dependency
modified parameters for affordances and handle detection
added marker array displays for affordances and handles
added the launch and yaml files necessary to run the arm in simulation mode
updated the deprecated 'include' elements to 'xacro::include'
changed the structure for the fields listed under each parameter
includes the moveit_planning_execution.launch file from the irb2400 moveit package
added planning scene and geometry_msgs/PoseStamped displays
- added new structures to read parameters for collision objects, attached objects and pose targets- removed update options and added a ros::Timer to perform updates of the objects in the scene