Added better plan execution console feedback
Made help the default option if nothing else passed in
Fixed file read bug that caused link name to be read incorrectly
Made help the default option if no params passed
Added debug output if user tries wrong planner. This is useful if they forget the 'left_arm[' part
Renamed variable to be more specific
Fixed magic constant issue
Merge pull request #221 from davetcoleman/groovy-devel

Lots of small tweaks