Catkinized pr2_common_actions

Everything compiles on our PR2 in Bremen under Hydro. However, some work remains to have everything work as it did some years ago:
- pr2_move_arm_ik does not compile anything because I could not find pr2_kinematics
- pr2_tilt_laser_interface needs to be refactored to comply with new practices under Hydro
- the are no install rules for releasing

Still, I hope it's a first step enabling others to provide fixes in the future.