Ovis package rewrite for GPA791

[lit-af]

Complete rewrite of the Ovis support package. While work isn't 100% complete, this branch is good enough to overwrite the current master branch.

Overview of work done:

• Complete rewrite of the URDF using xacro macro. In the submodule ovis_description.
• Setup of the MoveIt package for Ovis.
• IKFast plugin integration with MoveIt. #15
• Example integration with the jog_control package #10
• Basic simulation using the industrial_robot_simulator. #12
• File structure similar to ros_industrial guidelines #17

[lvanasse]

Ouf, this is a really big PR and with little documentation. Everything seems good but I definitely didn't understand all of it.

My advice would be: try to do a PR per issue that you close. Or maybe 2 max if they are closely related. If possible, I would like to have a bit more description of how the overall program works and how to test most parts? (I saw that ovis_description does have a README, but the other doesn't seem to have any)

You seem to have conflicts with your master branch. If you don't need those files anymore try deleting them in your PR.

Also, I see that you have many branches some are stale and the active ones date from one month ago. If you could also maybe clean up those branches would be nice.