Drop PyKDL dependency in tf2_geometry_msgs (backport #509)

[mergify]

This is an automatic backport of pull request #509 done by Mergify.
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Changes to be committed:
	new file:   tf2_geometry_msgs/pytest.ini
	deleted:    tf2_geometry_msgs/scripts/test.py
	modified:   tf2_ros_py/package.xml

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   tf2_geometry_msgs/CMakeLists.txt
	both modified:   tf2_geometry_msgs/package.xml
	both modified:   tf2_geometry_msgs/src/tf2_geometry_msgs/tf2_geometry_msgs.py
	both modified:   tf2_geometry_msgs/test/test_tf2_geometry_msgs.py

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[dawsonc]

Fixed by #533

[clalancette]

Closing in favor of #533.