holonomic drive control broken (control_toolbox catkinization issue)

[piyushk]

1. The holonomic drive trajectory controller makes use of a PID from control_toolbox, which has not been catkinized yet (timeframe for catkinization ros-controls/ros_control#39). To proceed with catkinization and using the hydro-devel branch for navigation, the holonomic part of the trajectory controller has been broken. Once control_toolbox gets catkinized, fix holonomic drive control
2. Additionally, replace the custom PID in the differential controller with the one from control_toolbox