Got rid of some entries that were left over from copy/paste to create this package.  They were causing compiler errors.
Got rid of references to youbot_kinematics package.
Got rid of references to youbot_kinematics package.
The arm now goes through a routine of moving above object, moving down to grasp, and then going back to candle position.  The code is pretty ugly right now, but it functions.  Clean up comes later.