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.

Updated to catkin.  ur_driver's files were added to nested Python directory for including in other packages.

Ported ur_kinematics package from Georgia Tech library.  Added ability to create ur5 & ur10 kinematics libraries.  Python libaries not untested.  Kinematics still needs to be wrapped within Kinematics plugin interface