Moved kdl_arm_kinematics to code-iai

This functionality is pretty generic and also useful for non-cram-physics code. I moved it to code-iai for people to find. Hence, it can be removed from cram-physics. 

Note: It was also necessary to fix it for Hydro because of deprecated dependencies on arm_navigation_msgs and kinematics_msgs. So, I assume it was not widely used?