Initial release for hydro

This is a tested initial release for the JACO/MICO arm that works with ROS Hyrdro. It adds the ability to use multiple arms and adds support for the 5.01.01 drivers/API from Kinova.

This release incorporates usability and stability improvements and there are some minor changes to the ROS interface in order to better track the ROS style guide. 
IIRC you can just do `jaco_position.Position.Actuators = angles;`