merging with interactive_marker

Merges or_interactivemarker with or_rviz to make one new viewer.

* Uses or_interactivemarker classes for rendering and interacting with kinbodies and plots
* Uses or_rviz code for creating the window, controlling the background color, controlling the camera, lighting, and switching between environments
* Old or_rviz rendering and plotting code is still around but commented out or not used.