Merge pull request #10 from fairlight1337/master

Several improvements and bug fixes, especially visualization related
Added empty stub of package cram-tf-relay.
Changed to standard PR2 velocity-resolved controllers.
Removed cram_tf_relay.
Catkinized cram_moveit
Implemented pr2-point-head client using Jannik's new actionlib client implementation.
Added moveit_msgs as dependency
Added tf2 messages as dependency
Introduced TF2 functionality as supported by the new tf2 implementation in roslisp

Also, cleaned up several interfaces and generally removed old, unused code.
Merge branch 'master' of github.com:cram-code/cram_bridge