Initial MoveIt plugin devel.
initiate commit to
IK working.
Cleaned up Moveit plugin comments, added better processing of callback function.
UR MoveIt plugin compiling and running. Untested.
Changing base_link to ur_base_link in the description and making
base_link a dummy link to better support MoveIt.
Switched kinematics solver to UR moveit plugin.  Some cleanup.

Moveit plugin works, but kinematics incorrect.  Old kinematics description
is probably inaccurate.
Merge branch 'moveit-plugin-devel' into ur10_moveit

Conflicts:
	ur_description/urdf/ur10.urdf.xacro
Removed debugging code
Finished integration of correct UR10 model into ur_description
Merge branch 'ur10_urdf_update' into ur10_moveit

Conflicts:
	ur10_moveit_config/.setup_assistant
	ur10_moveit_config/package.xml
Merge branch 'ur10_urdf_update' into ur10_moveit

Conflicts:
	ur_description/urdf/ur10.urdf.xacro
Merge branch 'ur10_urdf_update' into ur10_moveit

Conflicts:
	ur_description/urdf/ur10.urdf.xacro
	ur_description/urdf/ur10_joint_limited.urdf.xacro
Fixed IK closeness evaluator.
Updated KDL 1000x bug error.

Must set flag to activate fix now.
Commented out IK test code.
testing
adding ur_msgs
updating prog
update ur_driver CMakeList