kurtana_description: changes from updated wizard

* don't start database by default
* launch file comments
* enable info and (optionally) debug for moveit
* publish monitored planning scene
* move kinematics from ompl to planning context
* add parameters for octomap, trajectory execution monitoring
* fix package.xml
kurtana_moveit_config: remove fake controllers again

* not yet in groovy, only in hydro
* no idea what this is supposed to be good for anyway (other than as an example on how to integrate a controller manager)