Moveit plugin works, but kinematics incorrect.  Old kinematics description
is probably inaccurate.

Updated to catkin.  ur_driver's files were added to nested Python directory for including in other packages.

Ported ur_kinematics package from Georgia Tech library.  Added ability to create ur5 & ur10 kinematics libraries.  Python libaries not untested.  Kinematics still needs to be wrapped within Kinematics plugin interface