Initial steps for catkinization:
 * Performed automated catkinize script
 * Cleaned up package.xml and CMakeLists.txt
 * Removed deprecated packages that either became system dependencies or are not maintained any more
fixed problem with 'rospack' zombie processes that roamed around after being used for loading knowrob
Added light-weight OWL parsing predicate that understands ROS package:// URLs
moved *.owl.in files to *.owl (since the new file loader does not require global paths any more)
fixed include paths in OWL and Prolog predicate for loading files