Added Moveit adapter package
Addressed PR issues.  Added dependency on cmake_modules.  Joint values are now accessed via group.  IK search comparisons are now made using a tolerance instead of ==
Added/corrected dependencies
Joint size check compared against group instead of all variable values.  These could be different if multiple groups are present
Merge pull request #14 from shaun-edwards/descartes-moveit

Added Moveit adapter package