added service to solve ij
removed some removal codes
Merge pull request #79 from iory/iory

add return qrcode's position program
Merge pull request #76 from jiangjun0105/add_picking_demo

add picking demo
Merge pull request #75 from jiangjun0105/add_service_in_ik_client

added service to solve ik
Merge branch 'master' of https://github.com/start-jsk/2014-semi into demo-real