Moved SetIO FUN constants from driver.py to relevant srv file

Ur3 moveit config

Moved SetIO FUN constants from driver.py to relevant srv file for easier interaction from other files

Use RRTConnect planning algorithm by default

Fix for issues #49 and #95: ros-i compatible base and tool0 frames

This is more in-line with naming of existing joint tags.

[Indigo] catkin_lint

[Indigo] enable reconfigure and set_param side by side

Note that 'base' is essentially 'base_link' but rotated by 180
degrees over the Z-axis. This is necessary as the visual and
collision geometries appear to also have their origins rotated
180 degrees wrt the real robot.

'tool0' is similar to 'ee_link', but with its orientation such
that it coincides with an all-zeros TCP setting on the UR
controller. Users are expected to attach their own TCP frames
to this frame, instead of updating it (see also [1]).

[1] http://wiki.ros.org/Industrial/Tutorials/WorkingWithRosIndustrialRobotSupportPackages#Standardised_links_.2BAC8_frames

port of PR #157 to indigo

Fixes bug #193 about slow planning on Indigo

LBKPIECE1 (the previous default) looks to be the wrong planning algorithm for the robot
See https://groups.google.com/forum/#!topic/moveit-users/M71T-GaUNgg

Fixes bug #193 about slow planning on Indigo

LBKPIECE1 (the previous default) looks to be the wrong planning algorithm for the robot
See https://groups.google.com/forum/#!topic/moveit-users/M71T-GaUNgg

driver: Factor out __send_message method.

[Indigo] allow to start gazebo without gui

[Indigo] crop ik solutions wrt joint_limits

porting PR #165 to indigo