Deprecation Warnings on MoveIt launch

[IanTheEngineer]

There are two sets of warning that now show up when starting roslaunch sawyer_moveit_config sawyer_moveit.launch:

• Trajectory Parameters

[ WARN] [1478272020.526312660]: 
Deprecation warning: parameter 'allowed_execution_duration_scaling' moved into namespace 'trajectory_execution'.
Please, adjust file trajectory_execution.launch.xml!
[ WARN] [1478272020.529095252]: 
Deprecation warning: parameter 'allowed_goal_duration_margin' moved into namespace 'trajectory_execution'.
Please, adjust file trajectory_execution.launch.xml!

and

• move_group Trajectory Action

[ WARN] [1478272026.036739941]: 
Deprecation warning: Trajectory execution service is deprecated (was replaced by an action).
Replace 'MoveGroupExecuteService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch

and

• xacro.py deprecation

xacro.py is deprecated; please use xacro instead

[IanTheEngineer]

The first warning is related to ros-industrial/fanuc_experimental#24

[IanTheEngineer]

The Trajectory Action change will break Indigo (as noted in #14). Best to keep the warning intact.