Use RRTConnect by default for UR5

Fixes bug #193 about slow planning on Indigo

LBKPIECE1 (the previous default) looks to be the wrong planning algorithm for the robot
See https://groups.google.com/forum/#!topic/moveit-users/M71T-GaUNgg

ur5_moveit_config/config/ompl_planning.yaml

@@ -34,7 +34,6 @@ manipulator:
     - TRRTkConfigDefault
     - PRMkConfigDefault
     - PRMstarkConfigDefault
-  projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
   longest_valid_segment_fraction: 0.05
 endeffector:
   planner_configs:
@@ -48,4 +47,4 @@ endeffector:
     - RRTstarkConfigDefault
     - TRRTkConfigDefault
     - PRMkConfigDefault
-    - PRMstarkConfigDefault
+    - PRMstarkConfigDefault
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