use gazebo joint_trajecory controller again for all components
remove deprecated launch files in cob_driver and add nodes to cob_robots
Merge pull request #179 from abubeck/feature/moving_base_launchfiles

remove deprecated launch files in cob_driver and add nodes to cob_robots
merge prace
merge with hydro_control for new file structure
merge with vel_control
use arm_joint_configurations valid for current ur_model
tweak ur_controller parameter