Bring it add objectives

[mkhansenbot]

Adds objectives for moving close to the bar and picking up beer. Picking currently fails to plan a solution

[mkhansenbot]

I fixed the YAML formatting issue, @griswaldbrooks please review

[griswaldbrooks]

Going to merge this because it seems better than the last state I saw it in including being able to jog the joints and the planning scene object not being in the UI.
I think you reduced the inflation radius too much as in testing I saw the robot clip the edge of tables a few times and struggle to reach the goal a bit as it was too close to the table to navigate. We should also really switch to a more well behaved omni directional controller as DWB doesn't seem to be taking advantage of this capability and seems to be treating it like diff drive