Merge branch 'feature/public-grasp-side' into 'master'

CMakeLists.txt

include/grasp_util.h

src/grasping/environment_util.cpp

src/grasping/grasp_service.cpp

src/grasping/grasp_util.cpp

test/grasp_from_side_test.cpp

test/grasping.test

test/plan_visualizer.rviz

test/side_grasping.test

test/test.cpp