Merge pull request #11 from shaun-edwards/issue8-robot-model-interface

Added robot model interface class
Joint size check compared against group instead of all variable values.  These could be different if multiple groups are present
Merge pull request #14 from shaun-edwards/descartes-moveit

Added Moveit adapter package
Merge branch 'hydro-devel' of https://github.com/ros-industrial-consortium/descartes into trajectory-pt-impl