mods for hydro
created catkin package for test control stuff
added moveit config package
removed unnecessary import
removed unnecessary comment
new ready pose script
fixed printfs
cleaned up
fixed config to remove preceding slashes that made IK solver fail to init
fixed for IMs
added ready poses for arms in moveit config
moved stuff around.  it's a mess right now, but i'll keep cleaning it up.
move stuff around some more
fixed right arm kin problem, and made rviz moveit  config default on startup
regenerated moveit config and fixed some finger controller lists
fixed geometry models for body, cover, and shoulder to not always be in collision. regenerate teh moveit stuff to take advantage of this, it should work better now.
better rviz config default
checked in new r2Teleop.py node to eventually replace r2_interactive_control.py.  still work in progress though.
pushed some updates
created new branch for sandboxing moveit stuff