Merge pull request #3 from adnanmunawar/wpi_adnan

Extension of Joint Publisher
fixed tab to spaces
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