sr_hand_kinematics catkinized and sr_moveit_hand_config added using this IK.

created a hydro-devel branch for sr_hand_kinematics, catkinized it, fixed all deprecated issues and made the test work on catkin. 
generated a clean sr_moveit_config package with correct end-effectors, kinematics chains and using the hand_kinematics plugin instead of non-working KDL generic one.