Initial commit with code for iTaSC-CRAM integration.

Short summary of the additions:
- Dependency in manifest and asd-system on KU Leuven's action interface.
- Typical process module init and action calling functions in 'itasc-integration'.
- Classes and convenience function that safe constraint-based motion specifications
  in a small dummy database (itasc-database).
- Convenience conversion functions that translate specifications from that database
  into the corresponding ROS-messages that are send to the iTaSC controller (itasc-conversions).
- Some still small example code that uses this functionality to call the controller
  to perform some action.

Please note that this is all part of an initial demo to test the workings
of KU Leuven's iTaSC-based action interface. Usage of designators, inference,
and getting information from an external knowledge base have been deliberately
left out, for the moment.
Changed database representation and conversions to adapt to the
changes in the interface that Gianni requested.

- no more 'external-location' for objects
- an extra robot representation for init of the action server
- extended 'valid-object-frame-p' to also check frames on robots
- trajectory generators now come with more properties
Small adaptions to changed interface and added tasks.

- one more task to get left gripper in bunny pose
- nick only wanted one frame per object :(
- now, we also need to fill a 'robot database'
The executive now pulls the respective symbol codes directly from the ROS messages.
Refactoring: Message-symbols are now retrieved during message creation, and the database is filled with the corresponding symbols instead of with magic numbers.
Refactoring: Added and used convenience function to add a list of chain joints to the database.
Refactoring: added some small default values that make my database smaller.
Refactoring: Robots now have kinematic chains that hold robot joint weights.

- extended itasc-robot class by kinematics chains
- added class for kinematics chains
- added convenience functions for kinematics chains
- altered message convenience function that assemble robot joint weights
- changed executive to fill kinematic chains into robots
Minor change to use other robot-joint-weight init function.
Small changes that we committed way too late.
Merged with Jan.
Merge branch 'itasc' of https://github.com/airballking/cram_pr2 into itasc
Moved init-call to DSL-parser to integration package, and refactored it slightly.
Improved error output.
Aligned task specification of 'goto bunny pose' with Nick's example.
Added initial version of pr2_itasc_process_module.
Added initial version of asd-file and symbolic link to it.
Added initial version of package.lisp
Added the basic dependencies.
Moved files for integration with itasc-dsl-controller from pr2-manipulation-pm to pr2-itasc-pm.