Dockerfile: make sure to upgrade after updating

Although apt-get update was called, upgrade did not follow it. This
lead to the strange situation of keeping some ROS packages at the
versions ineherited from the original image and some being the latest
ones.
Merge branch 'build-fixes' into smart_arm_ik
Dockerfile: install package for IK missing from dependencies

There's a dependency bug whereby an important package for IK support
is not pulled in via the moveit package. Install in manually.