Copied whole-body-controller to trunk

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/trunk/tue_actuation/amigo_whole_body_controller@10932 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
whole-body-controller/middleware.launch now uses the new base navigation.launch

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/trunk/tue_actuation/amigo_whole_body_controller@11567 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
Now builds under 12.04

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/trunk/tue_actuation/amigo_whole_body_controller@12667 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
Updated wbc middleware

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/trunk/tue_actuation/amigo_whole_body_controller@14308 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
Added delta goal and reset to Cartesian Impedance

git-svn-id: https://roboticssrv.wtb.tue.nl/svn/ros/code/tue-ros-pkg/trunk/tue_actuation/amigo_whole_body_controller@14390 3a3c2cfb-d3b9-409e-9e75-db8fcdbcaac6
Merge branch 'master' of https://github.com/tue-robotics-lab/amigo_whole_body_controller