Standardize to ROS logging throughout code

[MatthewPeterKelly]

This commit standardizes the logging throughout the SNS-IK library to use the ROS logging tools. It also includes some other minor code clean-up.

Changes:

• All logging is now done using ROS logging tools
• Remove #define statements other than header guards
• Fix #include statements
• Remove some of the unused code

Issues: #38

[MatthewPeterKelly]

Thanks!