Added actionlib to dependencies and CMakeLists.txt
Broke out class from main()
Remove dependency on dynamic reconfigure.
Comm object is now passed into JacoArm.

This allows using a single comm object between multiple other libraries.
Comm object owns the Jaco API (and its state).
set_joint_angle now accepts Transformed angles instead of raw angles.

The transformed angles match what is published by the joint_state topic.
Removed "Fingers" from the JointState message.
Start of actionlib functionality.
Renamed actions to be more idiomatic ROS.
Some initial updates for actions.
Working Jaco pose action server.

Big commit of implemented pose action server. Type conversion moved to
dedicated wrappers to make sure it's only done in one place.

Big caveat here is that the Jaco API is not thread safe and the ROS code
needs locking to make sure two threads don't call into the API at the
same time.
Added some crude locking to JacoComm to fix crash.

Multi-thread operation now possible, though not well-tested.
Renamed JacoAction to JacoPoseActionServer.

This more accurately reflects what it does and will not cause problems
with future action servers (e.g. for angles).
Cleaned up extra NodeHandle.
Small bugfix.
Added JacoAngles type.

Should help when working with angular commands/poses and conversion
between Jaco API and ROS data formats.
Action server for angular position.
Send angles in degrees for tf_publisher.
Result from pose server is now a pose.
Removed topic for setting joint angles.
Merge branch 'actionlib'

Actionlib servers implemented for cartesian and angular control of joint
positions. Finger control still TBD.