Modied mtconnect_m16ib20 package to use IKfast kinematics instead of numerical solver.  Verified change in planning components visualizer.
Removed unused files in irb2400 config.  Modified retreat parameters due to robot self collisions
Updated m16 launch file to include latest simulator and added option real robot (not yet tested)
Added local joint filter configuration.  Increased joint acceleration limits from default (they are set artificially low).
Merge branch 'master' of git://github.com/mtconnect/ros_bridge
Merge branch 'master' of github.com:mtconnect/ros_bridge