Adding indradrive_hw_iface, the framework.

This package is designed to be a driver for the indradrive controller.
Added lots of test files. Not debugged yet.
Updated to PID velocity control. Simulation framework down and working.
Velocity controller close to fully written. Almost ready for debugging.
Small cs_ctrl launch changes while adding excel_hw_iface
Adding excel_hw_iface, which combines the indradrive_hw_iface and ur_ctrl_client

into one controller manager.
Indradrive controller working properly
Merge branch 'indradrive-ctrl' of https://github.com/gt-ros-pkg/excel-util into indradrive-ctrl

Conflicts:
	indradrive_hw_iface/launch/load_cs_ctrl.launch
Merge branch 'excel_description' into indradrive-ctrl
Adding xacro joint_limited parameter
Added if found flags to indradrive package