Fixes diagnostic levels for abby's encoders.

Abby's wheel:motor encoder ration is 1:16, not 1:15 as on HARLIE.
The values are correct in the cRIO config files on Abby, but the ROS
diagnostics were assuming 1:15 and throwing errors.
Added a little python utility to send ramp velocity commands.

To use for testing acceleration and velocity limits.
Moved abby's launch files into a launch directory.
Added a script to test acceleration
Fixed acceleration test
Fixed acceleration test; again.
Created some launch files for Abby.

The package abby_launch contains launch files to start the arm,
base, and both together. Rather than use the existing bringup files
for the HARLIE-class robots, I created base.launch, which does not
include the sonars, which Abby doesn't have anyway.
Added a teleop launch file for abby.
Added a config package and fixed some stuff in the launch files.

Launch files weren't using (find) properly, so they didn't always
work. Fixed this.
Merge branch 'master' of 192.168.0.150:/home/abby/ros/dev_stacks/cwru-ros-pkg
Created a package for config files for Abby.

So far, only contains rviz config file.
Updated Abby launch files.

Updated arm launch to include robot state broadcaster.
Added an arm joint setter launch file (doesn't work yet).
Made an rviz launch file for abby.
Rviz launch file should be included (with a boolean argument that
is false be default) in all top level abby launch files for easy
rviz visualization. So far, this is only implemented in arm_joint_setter.
Run with rviz like
roslaunch abby_launch arm_joint_setter.launch rviz:=true
Launch file changes for abby arm joint setter.

Made arm.launch have an argument whether to connect to the robot
(default true).
Made arm_joint_setter.launch not be a streaming commander, but just
command the rviz sim. (This should be reverted.)
Created sim_visualizer.launch to view the arm in rviz but not
connect to the IRC5.
Removed streaming from arm launch file.
Added new package abby_description.

This package, which follows the structure of the pr2_description package
in pr2_common, will contain all of the urdfs/xacros, meshes, and gazebo
configuration files for abby. abby_urdf is considered deprecated and will
be removed from the stack when this package is completed.
Almost have a functional URDF.

Need to add get rotation axes right for casters, caster wheels, and one
drive wheel. Need to make other drive wheel a continuous joint (currently
fixed.)
Arm position is approximate. Need to check arm height, othewise looks
to be correct (centered l-r and mated to rails).
URDF files are now good (although arm height is estimated.)
Removed abby_urdf package, which has been replaced.

URDFs and meshes can now be found in abby_description, in keeping with
the stack layout that Willow Garage uses for the PR2.
Removed tour guide from the repository. (It has its own.)
Created new package cwru_description.

This package will contain all mesh files and urdf files
that are common to all CWRU robots. So far, it only contains
a xacro file and meshes to generate a kinect, modified from the
ones used for turtlebot.