use new robot_trajectory lib
minor bugfixes
minor linking fix thanks to Wim
minor changes due to multi-dof joint representation update
minor bugfix when identifying the approach state in manipulation; propagate changes from moveit_core for fixing warnings
use proper python setup for move_group_interface
fix a locking issue with simultaneous update of metrics in different threads
rename KinematicState to RobotState, KinematicTrajectory to RobotTrajectory
fix merge conflict
complete renaming process
removing superfluous output