Proposed support-pkg-i-fying (ROS-Industrial standards)

Hi guys,

I took some time to move some files around and change some minor things to make the package more in-line with current ROS-Industrial robot support package standards. Please take a look at the changes and see if you want to merge them.

Couple of things I left as they were (pkg name, link/joint names, effort limits, stl origins). Also I've included only one collision model (convex hull) in stl format. Adding more would help with MoveIt collision avoidance in the future, if you ever want to do that.