Adds support for multi-groups on Motoman Robots

This pull-request adds support for multi-groups on the MOTOMAN ROS package.

This needs the latest version from motoman_driver from @ted-miller

This depends on:
https://github.com/ros-industrial/industrial_core/pull/82

* Succesfully tested on the Motoman SDA10F and on the Motoman SIA10F.
I know we have some released xacros that violate this as well, but seeing as these are new ones introduced by this PR, this seems like a good time to do it right: common practice is to indent everything with two spaces per level.