Based on MCR_arm_cartesian_control

All original commits have been squashed, in summary:
- Mfuller added mcr_arm_cartesian_control
- added example launch file
- install executable only in BIN path
- removed namespace
- added add_dependenies()
- changed orocos_kdl from ros to system dep
- added orocos-kdl to linker
- orocos_kdl is now a system library
    - change to new include of the orocos-kdl library
    - change to orocos variable
- increased max. joint velocity for cart control

Author:    mfueller
Editors:   frederikhegger, svenschneider
Initial Proof of concept- getting arm+base working

in arm_cartesian_control
- removed excessive normalization

in arm_cartesian_control_node.cpp
- Added KDL chains for the base chain, and full chain
- Added publisher for the base
- Added weights
- Lots of renaming to avoid confusion with different chains
- Lots of debug output
- Publish the base velocities to the base and arm joint velocities to arm
- Adds dummy limits for the fake base joints, to avoid runtime error
Seperated arm_base_controller from arm_cartersian_control

- removed unused source and headers
- created package mcr_arm_base_cartesian_control