Initial MoveIt plugin devel.
initiate commit to
IK working.
Cleaned up Moveit plugin comments, added better processing of callback function.
UR MoveIt plugin compiling and running. Untested.
Changing base_link to ur_base_link in the description and making
base_link a dummy link to better support MoveIt.
Switched kinematics solver to UR moveit plugin.  Some cleanup.

Moveit plugin works, but kinematics incorrect.  Old kinematics description
is probably inaccurate.
Merged Jimmy's cleanup into hydro-devel branch
Merge branch 'moveit-plugin-devel' into ur10_moveit

Conflicts:
	ur_description/urdf/ur10.urdf.xacro
Removed debugging code
Finished integration of correct UR10 model into ur_description
Finished integration of correct UR10 model into ur_description
Updated ur10_moveit_config to reflect new model.
Merge branch 'ur10_urdf_update' into ur10_moveit

Conflicts:
	ur10_moveit_config/.setup_assistant
	ur10_moveit_config/package.xml
Making base_link a dummy link with no mass for MoveIt compatability.
Merge branch 'ur10_urdf_update' into ur10_moveit

Conflicts:
	ur_description/urdf/ur10.urdf.xacro
Moving extra fixed link out of ur10.urdf.xacro and into ur10_robot.urdf.xacro

Also removing virtual joint from MoveIt! configuration.
Removed cube.dae from meshes
Removed all *.stl files from UR10 meshes.
Removed ur10_joint_limited.urdf.xacro and accomplished this with

xacro arguments. Replaced all tabs with spaces. Updated the UR10 urdf files.