katana_moveit_ikfast_plugin: adjust to changed MoveIt API
collada/*.robot.xml: set translation back to 0s

Doesn't have any effect on the generated IK any more (OpenRAVE 0.8 /
IKFast 61) anyway.
New node fake_katana_publisher

Useful in case you don't want to attach the real Katana, but need the
joint states.
katana_arm_gazebo: added tall_table model
coke_can.launch: added args for x + y
katana_description: add dependency for gazebo_ros_controller_manager
katana_moveit_ikfast_plugin: use GetIkType() instead of #defines

This removes the need to manually specify the IK type using `#define
IKTYPE_...`.
Merge remote-tracking branch 'upstream/groovy' into groovy