Publish rgb filtered cloud

* Add filtered_cloud_use_color parameter
* If the parameter is true, OctomapUpdater publishes colroed pointcloud (`pcl::PointXYZRGB`)
* In order to achieve this, make several method template methods (need to support `pcl::PointXYZ` and pcl::PointXYZRGB)
* This PR includes https://github.com/ros-planning/moveit_ros/pull/517

* Green: input cloud
![a](https://cloud.githubusercontent.com/assets/40454/4860936/d1b02b22-60fd-11e4-9f3a-f7c7cb453f63.png)

* RGB: filtered cloud
![b](https://cloud.githubusercontent.com/assets/40454/4860937/d34cd912-60fd-11e4-89da-145d6a2de096.png)