Migrate manifest and CMakeLists to catkin.

Also update run and build depends.
Add joint name config file.
Move launchfiles to subdir.
Move meshes down to per-model subdir.

Also split into visual and collision quality (only visual for now).
Convert mesh filenames to lowercase.
Lowercase urdfs.
Rename urdfs to follow ROS-I naming conventions.
Create RX60L xacro macro.

Also sync urdf with xacro and add xacro as run depend.
Convert gripper variant to xacro macro.
Fix faces orientation in base link STL.
Add convex hull of base link STL to use as collision model.

TODO: other links.
Add ROS-I standard model load/test launch files.
Update readme.
Added the ROS listener for the CS7B controller