kinematics: fixup build script and manifest (dependencies). Fix #113.

Removes the boilerplate comments, unnecessary link_directories()
and fixes up the dependency declaration (proper catkin and system
dep listing) in CMakeLists.txt.

Related changes are made to the manifest.

Note: catkin_lint still complains about 'boost' being unconfigured,
      but this seems to be due to a difference in capitalisation
      between the CMake Findscript and the rosdep entry.
Merge pull request #114 from gavanderhoorn/issue113_kin_bscript_errs

Fix for issue #113: issues with ur_kinematics build script and manifest