calvin_gazebo: remove katana_joint_movement_adapter from launch file

Doesn't compile at the moment; only necessary for teleop on gazebo. Revert this
commit if we ever make it work under hydro again.
calvin_gazebo: use new filter chain
calvin_gazebo: adjustments necessary for running calvin in gazebo on hydro (switch to ros_control)
calvin_gazebo: fix webcam_pitch_joint_controller PID values

this stops the webcam from rotating
calvin_description: fix inertials of webcam_link, webcam_optical_link

* webcam_link inertials now match collision dimensions
* webcam_optical_link doesn't need an inertial any more (no more
  Gazebo warnings in Hydro)
calvin_description: fixed inertials with origin
calvin_bringup: remove joint_state_muxer from startup

This is unnecessary overhead and currently broken because of a
bug in urdfdom
calvin_description: add gazebo-topic parameter when loading lms200 urdf in calvin.urdf.xacro
calvin_description: calibrated the laser scanners on the xy-plane

Calibrated the big laser scanner against the tiny scanner on the x-axis by hand.
Moved the tiny laser scanner on the y-axis, because it is not in the middle of calvin on the y-axis.