added srv folder to ur_driver
added payload const
created ros service for sending payload to arm
enabled set payload
beautify
moved service definition to ur_msgs, fix typos, add payload bound parameters
make payload bounds parameterizable through parameter server and launch files
added dependency to ur_msgs to meta-package
driver: don't try to read flag 32 (doesn't exist). Fix #108.
kinematics: fixup build script and manifest (dependencies). Fix #113.

Removes the boilerplate comments, unnecessary link_directories()
and fixes up the dependency declaration (proper catkin and system
dep listing) in CMakeLists.txt.

Related changes are made to the manifest.

Note: catkin_lint still complains about 'boost' being unconfigured,
      but this seems to be due to a difference in capitalisation
      between the CMake Findscript and the rosdep entry.
driver: remove Beautifulsoup dependency. Fix #36.

This change reimplements the load_joint_offsets(..) function using
lxml. A simple XPath expression is used to access the calibration_offset
elements.

Run-time behaviour should be identical. Tested with ur-sim.

Note: I opted to use lxml instead of urdfdom_py, as the latter has
some issues parsing the UR5/10 urdfs and we only need access to a single
custom element. Rosdep keys for python-lxml were recently added (for
urdfdom) for all (Ubuntu) versions, so this should not be an issue.
Decimated and converted to STL ur5 collision meshes.
Added collision object for ur5's ee_link to workaround moveit bug.
https://github.com/ros-planning/moveit_core/issues/158
driver: remove magic nr from analog IO scaling. Fix #109.
driver: sizeof(io_msgs) is 8 bytes, not 8 ints. Fix #107.

Also correct some minor formatting issues.
restrutcture prog and temporarily remove publishing of flags to reduce load on ur controller
disable flags in io_interface and test_io
send io-states using robot state data - proof-of-concet
deserializer for real-time communication interface
new message for RobotStateRT data structure