Merge pull request #102 from ipa-fxm/issue/heavy_payload_rebased

[Hydro] Issue/heavy payload rebased
Merge pull request #110 from gavanderhoorn/issue108_invalid_flag_idx

Fix for issue #108: Warning: 32 is no a valid flag number
Merge pull request #114 from gavanderhoorn/issue113_kin_bscript_errs

Fix for issue #113: issues with ur_kinematics build script and manifest
Merge pull request #116 from gavanderhoorn/issue36_remove_bsoup

Fix for issue #36: Remove BeautifulSoup dependency
driver: remove magic nr from analog IO scaling. Fix #109.
driver: sizeof(io_msgs) is 8 bytes, not 8 ints. Fix #107.

Also correct some minor formatting issues.
restrutcture prog and temporarily remove publishing of flags to reduce load on ur controller
disable flags in io_interface and test_io
send io-states using robot state data - proof-of-concet
deserializer for real-time communication interface
new message for RobotStateRT data structure
script for testing communication with real-time communication interface
add URConnectionRT to driver
new nessage MasterboardDataMsg for testing
simplify deserializeRT
main commit: use ur socket protocols to reduce load on prog
test files for socket communication
modify io-interface
fix access to last_joint_states
add documentation and link to message definition