initial commit
restructured perrin planner to new underlying planner structure
added trajectory visualizer for footsteps to joint configuration in rviz
implemented playback recorder for robot motion
logger fixes, planner update
fixed upper body joint movements
minor renamings
restructured fast planner interface
step corrections and update of starting position in fastPlanner interface
uploading urdf file to parameter server is now possible through c++
fixed foot position according to half-step-format-3.0
m_subscriber can be non-null before initialization, but num of publisher is zero
sv along path now computable + starting pos for replanning to fastplanner