Update timing in rt_thread; still needs to check for overtime
Add grasp command topic, move param loading into raven_2.init.launch

--HG--
rename : raven_2_control/launch/raven_2.pub.launch => raven_2_control/launch/raven_2.init.launch
reverted to ros spinning in rt thread
added degrees/radian options in print_state
Added loop timing info to LoopNumber
Added state recorder, removed file extensions on scripts

--HG--
rename : raven_2_teleop/scripts/hold.py => raven_2_teleop/scripts/hold
rename : raven_2_teleop/scripts/hydra_teleop.py => raven_2_teleop/scripts/hydra_teleop
rename : raven_2_teleop/scripts/sinusoid.py => raven_2_teleop/scripts/sinusoid
rename : raven_2_trajectory/scripts/draw_square.py => raven_2_trajectory/scripts/draw_square
rename : raven_2_trajectory/scripts/extract_trajectory_array.py => raven_2_trajectory/scripts/extract_trajectory_array
rename : raven_2_trajectory/scripts/knot_trajectory_execute.py => raven_2_trajectory/scripts/knot_trajectory_execute
rename : raven_2_trajectory/scripts/trajectory_recorder.py => raven_2_trajectory/scripts/trajectory_recorder
rename : raven_2_vision/scripts/chessboard_frame.py => raven_2_vision/scripts/chessboard_frame
generate_urdf now checks mod times
Added DAC error yaml log file
Added 1000 Hz ROS state, refined grasp command
Added command line config
Added new trajectory io, plotting
Fixed some homing issues
fixing cable coupling
gravity compensation