added IKfast compatibility functions

Gazebo fixes

Swri internal mods

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)

Swri internal mods

Removed ur5_joint_limited_moveit_config.  ur5_moveit_config now has limited joint ranges to plus/minus 180 degrees.

Added joint limited urdf and associated moveit package.  The joint limited package is friendlier to the default KLD IK solution

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

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

Added launch directory to bringup package.  Left the old launch files to be backwards compatable for now.  Updated driver with SwRI internal changes.  Changed driver to accept ip address to match ROS-Industrial standard.  IP addresses for industrial robots are typically fixed.  Hostnames are not typically used (this is what the driver expected)

Reorganized meshes to include both collision and visual messhes (like other ROS-I robots).  Modified urdf xacro to include new models.  Removed extra robot pedestal link from urdf (urdfs should only include the robot itself).

updating ur driver to support UR10 and cleanup in packages

New universal_robot repository version