Add collision checking to Inverse Kinematics Sim Service

[IanTheEngineer]

if (jointsInCollision(kinematic_chain_map_[req.tip_names[i]], jnt_result))
        {
          res.result_type[i] = res.IK_IN_COLLISION;
        }  TODO(imcmahon) Utilize FCL for collision checking

We could use FCL, or some other library to check to see if the robot is in collision at any configuration.