Added initial version of launch-file to start feature controllers.
Added file to hold integration code for feature controllers.
Added convenience functions to set up and shutdown all relays needed for single-armed feature controllers.
Now start feature controller for left arm from launch-file. Added manifest-dependency.
Refactored 'set-up-tf-relays' to be more readable.
Refactored 'add-tf-relay' and 'remove-tf-relay' to throw an error if actions do not succeed. Also added an TODO.
One less TODO: Removal of all tf-relays in one go possible, now.
Added visualization to launch-file.
Added dependencies on constraint-msgs and new package cram-feature-constraints.
Refactoring: Stuff about tf-relays got its own file, asd-file had to be changed accordingly.
Added convenience class to publish constraint config and command msgs.
Added support for waiting for finished controller states
Moved initialization of the controller state fluent into the ros init function
Changed the callback function's name for controller states to smth more meaningful
Added type check for callback method
Exported `wait-for-controller'
Preliminary example of grasping (cylindrical) ketchup bottle
Tiny changes to the launch-file.
Added tf-broadcaster and example motion to grab a ketchup bottle.
Removed tf-relays because the feature controller listens to tf himself.