This relates to #1060, but the pull-request aims to do much more.

At the moment, the RViz PlanningScene Displays do not allow introspection of the coordinate systems of CollisionObjects.
It would be nice to have a way to visualize these frames in RViz.

Possible approaches include:

• conditionally publish frame information to tf and introspect with their tool
• add a bool-property tree for all objects to the PlanningScene display to enable/disable frame visualizations for them.