catkin-ized rfsm

This patch converts the rFSM package into a catkin package, that could be installed and/or released in ROS:

* The `manifest.xml` file has been replaced by `package.xml` (roscd still works if rfsm is in the `ROS_PACKAGE_PATH`).
* `CMakeLists.txt` will install all lua files and the scripts in the tools directory to appropriate locations.
* A new catkin env-hook will add the package source directory (if you work in the devel-space) or the `prefix/share/lua/5.1/rfsm` installation directory to the `LUA_PATH`. Not sure if this is required if `prefix/share/lua/5.1` is already in the `LUA_PATH` and there would be a `prefix/share/lua/5.1/rfsm.lua` file that just "forwards" somehow to the rfsm package?