2016-09-22-Allevato

Although this has already been done a few days ago, I thought to document it here.
- I updated the xacro files for the new Valkyrie to include some plugins that we require. This includes depth camera plugins, our motion control plugin, and our joint state publisher.
- I also created a bash script that copies the generated URDF from the devel folder into the R5 source folder, because I got tired of hunting through the directory structure.
- I updated vision to work on the new valkyrie with the depth camera data that I can now see in RViz.
I updated the ORP recognizer so it now publishes interactive markers in addition to the normal markers.
- When the marker is clicked, it prints the position and color of the marker to the console. This is so it will appear in our final task log for SRC task 1.
- Right now there is only one interactive marker being published, even if multiple normal markers are showing up. I have to figure out why this is happening.
Multiple markers were being merged into one because they had the exact same name. Changing the name based on the object ID turned out to be enough to publish multiple objects.
Made objects larger so I could click on them and see them more easily
I may want to remove the text marker from the list of markers that is used in the interactivity. The text can block another marker.
I had to be sure and remove the interactive markers from the interactive marker server when they object was erased. They don't automatically kill themselves like normal markers do (they have no lifetime variable).