Fixes for Gravity Compensation Torque Calculation

[IanTheEngineer]

Fixed Gravity Compensation Torque Calculation

• Adds compensation for Coreolis Torques (from actual velocity)

• Adds compensation for Inertial Torques (from commanded acceleration)

• Fixed bug with Zero-initialization of KDL JointArrays, which would cause jitter in the simulated arm

• Use full gravity_model_effort which composes Gravity, Coreolis, and Inertial Torques instead of just gravity_only

• Removed unused PID values for torque and gravity controllers

• Retuned Position PID controller

  Adds new params for sawyer_world launch

• Adds pedestal param to launch to allow removing pedestal

• Adds static param to allow the robot base to move in Gazebo

• Adds initial_joint_states param, but it's not (currently) functional

• Adds load_gazebo param, to allow for gazebo to be launched separate

[IanTheEngineer]

This is targeting the release-5.2.0 branch, as I intend to push it as a hotfix to the master branch, due to customer request.