Cleanup and conversion to package format 2

[ipa-rmb]

No description provided.

[floweisshardt]

FR: OK
@ipa-fxm please do a CR

[fmessmer]

change maintainer?

[fmessmer]

This PR only affects package.xml files.... did you check whether the CMakeLists.txt files (especially the find_package and catkin_package tags) have to be adjusted accordingly? see ipa320/care-o-bot#7

[fmessmer]

Also, when converting to package-format 2, we agreed to consequently use:
add_dependencies(TARGET ${${PROJECT_NAME}_EXPORTED_TARGETS}) in case you generate messages within this package and add_dependencies(TARGET ${catkin_EXPORTED_TARGETS}) in case this package includes any package that generates messages/services/actions....

(use add_dependencies(TARGET ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) in case both applies!)

Do not use any *_generate_messages_cpp or *_gen_cpp or alike.