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

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

base_link a dummy link to better support MoveIt.

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