Catkinization.

More or less straightforward catkinization.

WARNING: removed cram_beasty. It depends on a hidden package (dlr_messages) and it might be better not to have a public package that cannot be compiled because of a proprietary dependency. If needed in cram_bridge (as opposed to a special meta_package we'd keep hidden), beasty code can be restored, of course.

NOTES on dependecies:

-most- of cram_bridge dependencies have been catkinized for ages, however some were not, and were catkinized just prior to this pull request, and are themselves pending pull request acceptance. To ease tracking, here is a list of dependencies and where to get them, pending pull requests:

- cram_pr2: until pull request #9 is merged, use branch https://github.com/mpomarlan/cram_pr2.git
- ias_common: until pull request #1 is merged, use branch https://github.com/mpomarlan/ias_common.git
- wsg50: use the code from https://github.com/code-iai/iai_robot_drivers.git