We need a release

[v4hn]

This package will not see widespread use until it is released as a package into the ROS ecosystem.

I guess the only question is whether, before we release this, we want to improve the kinematics interface in MoveIt to simplify things on this end.
Once it's released, people (like my favorite senior researcher) will complain if we break the interfaces later on.
I think as a minimum we could make KinematicsQueryOptions virtual to allow for dynamic_cast.
We could also move new constraint types into moveit_msgs to facilitate their use in parts other than IK.