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)

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