fix deprecated ConnectWorldUpdateStart warning
gazebo{,_worlds} -> gazebo_ros
include -> xacro:include
build with standalone gazebo
update gazebo.urdf to sdf 1.4
urdf_interface changed to urdf_model
build with standalone orocos-kdl
arm_navigation_msgs/JointLimits -> moveit_msgs/JointLimits

messages are identical
katana: kinematics_msgs -> moveit_msgs
remove pkg: katana_ikfast_kinematics_plugin

only compatible with arm_navigation; replaced by
katana_moveit_ikfast_plugin
katana_teleop: removed cyborgevo + ps3 nodes

These were outdated anyway.
katana_gazebo_plugins: copied over functions from removed package spline_smoother
katana_description: removed dependency on pr2_gazebo_plugins

this should be converted to gazebo_ros_control later