Added (uncommented) pos/vel/acc trajectory AS

The joint trajectory action server should now be working for
Position/Velocity/Accleration commands

Conflicts:

	ur_controllers/include/ur_controllers/ur_hardware_interface_adapter.h
	ur_controllers/launch/load_default_controllers.launch
	ur_controllers/src/ur_joint_trajectory_controller.cpp
	ur_controllers/ur_controller_plugins.xml
Added UR simulation controller

Rewrote run_controller interface for running controllers to use
compiler definitions instead of seperate files.  Added ur_sim_controller
which should simply forward commands to the internal state.

Conflicts:

	ur_ctrl_server/CMakeLists.txt
	ur_ctrl_server/SConscript
	ur_ctrl_server/src/run_controller.cpp
Added URControllerManager

This is an interface for the controller manager which keeps
persistent connections to the services and also provides utilities
for dealing with joint command modes

Conflicts:

	ur_controllers/test/test_vel_trajectory_ctrl.py
	ur_py_utils/src/ur_py_utils/arm_iface.py