Fixed incorrect ordering of catkin_package() call that breaks catkin 2.0

Several controllers had incorrect ordering of ``catkin_package`` call that occured after ``add_library``. This worked in catkin_make but breaks in the new [catkin_tools](https://github.com/catkin/catkin_tools) project (still in beta). 

This should be fixed despite what build system one is using. Sigh... several hours of broken ros_control because of bad CMake configurations.