Get gazebo + ros_control + moveit up and running

[JRikken]

• Edit drawings
• Rework the URDF model's package (correct base links / effector tip / change name (comply to gazebo tutorial))
• Follow gazebo tutorial to get everything up and running

http://gazebosim.org/tutorials?tut=ros_control http://gazebosim.org/tutorials/?tut=ros_urdf