removed dependcy on cob_hardware_config
cob_kinematics: fixed plugin path
ikfast pluging are now included in cob_kinematics again

Conflicts:

	cob_kinematics/manifest.xml
cob_kinematics: remove everything from CMakeLists that won't build properly (TODOs)
switched to moveit dependencies
adapted ikfast_plugin to moveit interface
export to moveit_core
removed outdated components that have moveit substitutes
merge with ipa-mdl
disabled currently broken packages
added missing return statement

fixed return value
ikfast plugin works now
added cob_moveit_config
setup assistant launch file
merge with mdl
switched back to kdl solver for raw3-1
added projection evaluators
added first versions of generic launch files
added controller settings
added lock_redundant_joints argument to api functions