Moveit issues hydro

Workaround for moveit collision-checking bug

Decimated and converted to STL ur5 collision meshes.

[Hydro] Issue106 use rtci to reduce load in prog

Also correct some minor formatting issues.

Fix for issue #36: Remove BeautifulSoup dependency

Fix for issue #113: issues with ur_kinematics build script and manifest

Fix for issue #108: Warning: 32 is no a valid flag number

[Hydro] Issue/heavy payload rebased

https://github.com/ros-planning/moveit_core/issues/158

This change reimplements the load_joint_offsets(..) function using
lxml. A simple XPath expression is used to access the calibration_offset
elements.

Run-time behaviour should be identical. Tested with ur-sim.

Note: I opted to use lxml instead of urdfdom_py, as the latter has
some issues parsing the UR5/10 urdfs and we only need access to a single
custom element. Rosdep keys for python-lxml were recently added (for
urdfdom) for all (Ubuntu) versions, so this should not be an issue.

Removes the boilerplate comments, unnecessary link_directories()
and fixes up the dependency declaration (proper catkin and system
dep listing) in CMakeLists.txt.

Related changes are made to the manifest.

Note: catkin_lint still complains about 'boost' being unconfigured,
      but this seems to be due to a difference in capitalisation
      between the CMake Findscript and the rosdep entry.