new pkg: katana_ikfast_moveit_plugin

This is the output generated by the moveit_ikfast package.
katana_ikfast_moveit_plugin: renames inside package

... to mirror more closely the katana_ikfast_kinematics_plugin package,
remove references to Kurtana etc.
fix namespace
rename: katana_ikfast_moveit_plugin --> katana_moveit_ikfast_plugin
fix IK and FK for types of IK other than Transform6D

reported here: https://github.com/ros-planning/moveit_ikfast/pull/2