Add prefix parameter in common launch

Adding joint limit variables in .xacro.urdf files

We want to set a prefix when starting the ur_common.launch, so we add
the prefix argument and set the parameter for the driver.

Updates from latest release

add missing dependency for moveit_simple_controller_manager

travis support for indigo

Ur kin constants

Moved SetIO FUN constants from driver.py to relevant srv file

Ur3 moveit config

updates from ros

Moved SetIO FUN constants from driver.py to relevant srv file for easier interaction from other files

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