Move computation of secondary tasks to JointStateGroup
API updates needed for planning interface changes in moveit_core; more importantly, plan_execution is now split into plan_with_sensing plan_execution; there is now the notion of an ExecutableMotionPlan, which can also represent results from pick& place actions; this allows us to reuse the replanning code & looking around code we had for planning in pick& place. Added callbacks for repairing motion plans
use the path repair API
fix #163
fix one more segfault
Merge branch 'groovy-devel' of https://github.com/ros-planning/moveit_ros into groovy-devel
Move computation of secondary tasks to JointStateGroup
Merge pull request #164 from marioprats/groovy-devel

Move computation of secondary tasks to JointStateGroup
new way of handling threading in robot_interaction
fix conflict
fix conflict
make velocity gain a parameter
added comments that might help avoid unintended expectations
resolve conflict