Merging latest changed from groovy to hydro devel branch

Issue #35 port fixes from original driver script

Corrected UR10's urdf to faithfully represent joint effort thresholds, velocity limits, and dynamics parameters.

Corrected effort thresholds and friction values for UR5 urdf.

Fix issue #29: missing Beautifulsoup Python dependency

Issue#24 - made change to driver.py s.t. test_move.py is now functional.  Thanks for the contribution!

Arguments were previously "in order" but the keyword arguments are recommended as they are more resilient to msg changes.

Ignoring unknown pkt types, related to #16.  Thanks for contributing!

This change modifies the behaviour of the driver in case an
unknown packet type is encountered. Previously, the deserialisation
routine would raise an exception, which would cause the driver
to print an error and exit.

In the current implementation the unknown packet type(s) are
stored, their payload ignored, and the driver reports the fact that
unknown type(s) was/were received (with a request to report the
warning, ideally to the package maintainer).

This is not a solution for #16, although that issue prompted this
change.

issue #20 - added corrected mesh file

Added definitions for adding tergets in install folder. Issue #10.

Added definitions for adding tergets in install folder. Issue #10.

Corrected warning on xacro-files in hydro.

Update to moveit_simple_controller_manager

UR driver updated to work with new 1.7 version software.  Software tested for backwards compatibility. 

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