Added prefix to all joints and links and added a remote center link
Changed the offset to align the remote center with end effector link
Added prefix one_ to distinguish between arms number 1 and 2
Added urdf files to for PSM2, MTM left and both PSMs and both MTMs together
New rviz config files for proper visualization
Cleaned up un-necessary launch files
Added clutch, coag/mono and gripper pinch event publishers to ros
Modified README file to describe dvrk_robot package and its functionality
Removed URDF files since they can be regenerated from xacro files
Changed tabs to spaces
Merge pull request #4 from adnanmunawar/wpi_adnan

Changes to the dvrk_model package