Adds tip_states topic and placeholder IK service

[IanTheEngineer]

• publishes EndpointStates message on tip_states topic
• adds a dummy IK Service for now to prevent Limb interface failures
• adds a new "hand_camera_name" parameter for use with the endpoint_states
• continues to publish the regular endpoint_state topic

[IanTheEngineer]

Don't mind the Travis checks failing - I've yet to fully implement the travis-ci integration