[Hydro] Issue/heavy payload rebased

This PR supersedes #78 
It is rebased to latest hydro-devel, it adresses the comments from @gavanderhoorn and has some beautifying changes guaranteeing conformity
Isn't the max payload 10kg for the UR 10?  In my experience if you set the payload higher than the rated payload (from the pendant), the robot slowly floats up due to gravity compensation (at least on version 1.4).