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

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