[cmake] Use jrl-cmakemodules standards. Rewrite CMakeLists.txt

[urdf] Change talos_small.urdf to use the smaller STL meshes.

* depends on urdfdom>=0.2.9. does not depend on Catkin
* remove package.xml
* add submodule cmake

NOTE: ASSIMP is angry with the header of the bigger STL files like arm_1.stl