Porting tum_simulator to ROS Hydro

I've ported the tum_simulator to work with ROS Hydro.

This is essentially the changes I made:
removed the rosbuild stuff
added catkin packages
updated the code to use the latest gazebo libraries
the quadcopter urdf has been updated to the latest urdf schema
The old launch files for the various test worlds and rviz config no longer work, rather than try and update them all I just created a new test world with launch file.