katana_gazebo_plugins: fix GAZEBO_LIBRARIES usage
katana_description: fix transmissions with gazebo 3 / indigo

This is backwards compatible.

hardware interface is now a required option of transmission/joint
katana_moveit_ikfast_plugin: cmake_modules provides FindEigen.cmake in indigo

This find_package was optional in hydro
remove alle pr2_* dependencies / move to control_msgs

Now the whole stack runs with control_msgs / controller_manager.