Perception Pipeline Improvements

MoveIt! allows for seamless integration of motion planning functionality and perception is a very important part of it. It supports using Octomap with point clouds which allow for many impressive uses such as collision checking, dynamic planning, etc. My task would be to make extensive improvements in the perception pipeline of the package and create highly descriptive tutorials for new users. I would also develop an interface where users can easily chain various perception algorithms right from the rviz plugin. Most importantly I would continue to maintain this functionality long after the completion of this project.