Use RRTConnect planning algorithm by default

Fix for issues #49 and #95: ros-i compatible base and tool0 frames

This is more in-line with naming of existing joint tags.

[Indigo] catkin_lint

[Indigo] enable reconfigure and set_param side by side

Note that 'base' is essentially 'base_link' but rotated by 180
degrees over the Z-axis. This is necessary as the visual and
collision geometries appear to also have their origins rotated
180 degrees wrt the real robot.

'tool0' is similar to 'ee_link', but with its orientation such
that it coincides with an all-zeros TCP setting on the UR
controller. Users are expected to attach their own TCP frames
to this frame, instead of updating it (see also [1]).

[1] http://wiki.ros.org/Industrial/Tutorials/WorkingWithRosIndustrialRobotSupportPackages#Standardised_links_.2BAC8_frames

port of PR #157 to indigo

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

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

driver: Factor out __send_message method.

[Indigo] allow to start gazebo without gui

[Indigo] crop ik solutions wrt joint_limits

porting PR #165 to indigo

dynamic reconfigure server for prevent_programming

[Indigo] Use PositionJointInterface for simulation

Improve moveit rviz plugin params