Update TabletopGrasp result fields

Support returning details of the executed grasp

segbot_arm_manipulation/action/TabletopGrasp.action

@@ -7,7 +7,7 @@ string TOPDOWN_GRASP_FILTER="top"
 string RANDOM_SELECTION="random"
 string CLOSEST_ORIENTATION_SELECTION="closest_orientation"
 string CLOSEST_JOINTSPACE_SELECTION="closest_joint_space"
-
+string CLOSEST_TO_CENTROID_SELECTION="closest_to_centroid"
 
 # constants for which method to use to generate grasps
 string HEURISTIC="heuristic_grasp"
@@ -26,8 +26,13 @@ string grasp_filter_method
 
 ---
 # Result
-bool success
-string error_msg
+    bool success
+    string error_msg
+    sensor_msgs/JointState approach_joint_state
+    geometry_msgs/PoseStamped approach_pose
+    sensor_msgs/JointState grasp_joint_state
+    geometry_msgs/PoseStamped grasp_pose
+
 ---
 # Feedback
 bool status