Create an IK Fast plugin for manupulator_asus move_group

[AustinDeric]

Lets hold off on merging this until after the demo because its a pretty big change and @Jmeyer1292 made some improvements in #221 :

Custom descartes until we get changes merged in
+- git: {local-name: descartes, uri: 'https://github.com/Jmeyer1292/descartes.git', version: godel_refactor_omp}