moveit kinematics

• kinematics_base-github
• kinematics plugin-github
• kdl plugin-github

KinematicsBase

Basic kinematics interface in moveit.

In KDL plugin:
- chainiksolver_pos_nr_jl_mimic: 逆运动学，加入关节限位和mimic关节 - chainiksolver_vel_pinv_mimic.hpp： jacobian求解，加入mimic关节 - kdl_kinematics_plugin：KinematicsBase子类，执行kdl求解