Cyclic dependency between prbt_support and prbt_moveit_config

[martiniil]

Foregoing discussion: #439

Expected

Since prbt_moveit_config has an execution-dependency on prbt_support, prbt_support should not depend on prbt_moveit_config.

Observed

In prbt_support the test urdf_tests.test has the following line:

    <include file="$(find prbt_moveit_config)/launch/planning_context.launch" />

This introduces a dependency which is currently missing in package.xml.

[martiniil]

In the test urdf_tests.test a MoveIt robot_model is loaded, which needs a srdf description of the robot. At first glance this was implemented out of laziness. The test could as well be conducted without the srdf.