Refactor repository to comply better with layout guidelines

As per subject.

This should only introduce additional packages, and doesn't touch any of the existing ones, apart from adding deprecation notices to them. `roslaunch` testing has been added to packages wherever possible, to prevent changes from introducing any issues with backwards compatibility.

Deprecated packages have been described as slated for removal in Indigo (tick/tock).

Summary of changes:

 - individual pkgs for driver and 2400, 5400 and 6640 support
 - prefix driver CMake targets with project name
 - add per-manipulator convenience launchfiles (URDF loading, testing, robot_interface and state_visualization)
 - regenerate irb 2400 ikfast plugin
 - regenerate irb 2400 and 6640 moveit configurations
 - add deprecation notice to old packages (common, moveit_plugins and moveit_configs)
 - add roslaunch testing to `abb_common`, `abb_driver` & new support packages
 - remove default value for `J23_coupling` roslaunch parameter from `robot_interface launch` file in `abb_driver`, requiring users to explicitly provide it, or to use one of the supplied (and reviewed) convenience launchfiles

This should also take care of #38 and #40.