Catkinization

I've built this on top of Jan Winler's fork, so you should merge his pull request first.

My own changes are catkinization for the cram_pr2 metapackage. Removed manifest.xmls and over-all straightforward catkinization process.

WARNING: in pr2_reachability_costmap, I commented out the add_lisp_executable, as it has, for now, no equivalent in catkin. However, I understand that catkin will soon support lisp executables, so the line will be restored.