replace tcp_accuracy_checker with hash comparison

This closes #34

ur_calibration/src/calibration_consumer.cpp

@@ -50,6 +50,7 @@ bool CalibrationConsumer::consume(
     calibration.correctChain();
 
     calibration_parameters_ = calibration.toYaml();
+    calibration_parameters_["kinematics"]["hash"] = kin_info->toHash();
     calibrated_ = true;
   }
   return true;

ur_calibration/src/calibration_correction.cpp

@@ -46,8 +46,6 @@ using namespace ur_driver;
 using namespace primary_interface;
 using namespace ur_calibration;
 
-static const int UR_PRIMARY_PORT = 30001;
-
 class ParamaterMissingException : public ros::Exception
 {
 public: