modified the srdf file and launch files for using the moveit API and our ROS-TMS environmental files
modified the srdf file and launch files for using the moveit API and our ROS-TMS environmental files

irvs/ros_tms,irvs/ros_tms,irvs/ros_tms,irvs/ros_tms,irvs/ros_tms,irvs/ros_tms,irvs/ros_tms,irvs/ros_tms,irvs/ros_tms