Added launch/configuration files for using real robot.  Updated joint limits to velocity limits of the driver (all of which can be configured to make the robot move faster)

Removed ur5_joint_limited_moveit_config.  ur5_moveit_config now has limited joint ranges to plus/minus 180 degrees.

Added ur5 moveit library.  The Kinematics used by the ur5 move it library is unreliable and should be replaced with the ur_kinematics