Added missing dependency on manipulation_msgs.

The commit https://github.com/ros-interactive-manipulation/pr2_object_manipulation/commit/b83d33c8b82a0bfb3e4f3dca603bb29d391b1eba converted all object_manipulation_msgs to manipulation_msgs. However, a dependency on manipulation_msgs was not added, resulting in build errors.

Note: this fix leaves a dependency on object_manipulation_msgs, since pr2_object_manipulation_msgs/action/IMGUI.action still uses it. I think IMGUI.action should be converted to manipulation_msgs, and the dependency on object_manipulation_msgs removed altogether, but I'm not familiar enough with this project to say for sure.