Added cartesian_setpoint_controller.  Identical to cartesian_position_controller right now.
Small build change to setpoint_controller
Added setpoint_limit param, and removed debug statements
Fixed a debug message
Changed code to use KDL::Tree based IK solver with joint limits, which actually works, as opposed to the chain version, commented out all of the chain based FK and IK code
Cleaned up code, also made to command all zero velocities when out of workspace
Added code to individually tune pid gains per joint.  Added code to scale all joint velocities to the max limit overshoot ratio, commented out right now
Cleaned up and removed overshoot code, removed extra ros_param call for pid_gains.
Fixed accidental override of i value in iteration for setting up pid controllers
Adding ik_iteration param to setpoint controller
Merge branch 'setpoint_controller' of github.com:kguerin2/ros_controllers into setpoint_controller
Merge branch 'setpoint_controller'