first very simple attempt on smoother close-to-goal-motion
first draft on smoothing at start and end of trajectory. needs more work, because the robot does not reach end of band atm.
set stop_smoothing_dist to 0.05 to smooth only at the very end of trajectory to avoid eband-bug
cherry-picked a commit from hydro_dev which claims to fix last-bubble-bug. still needs hw-tests and code clean-up
added test-hack to stop robot in smoothing-phase at the end of trajectory if close enough to goal
linear and angular velocity are now smoothed separately at the end of trajectory. also increased default smoothing distance to 0.1
Merge pull request #5 from ipa-frm/bugfix/last_bubble_bug

Bugfix: last bubble bug and smoother start/stop-behaviour