Send torque_enable = True to dynamixels on start.
Added pause functionality to manipulator node.

The node now advertises a pause service.  The service pauses all
of the dynamixels, carousel actions, and preempts the state machine.
On unpause, the node returns the manipulator to home, and then the
carousel to home.
Manipulator joint controller, added pause service.

The service disables the dynamixel torque for .2 seconds to
allow them to relax (like when gripping a soft object).  Then
puts them into position mode and holds the current position.
If the controller is paused, it returns from any other service
requests with "preempted"
Pause state added to machine, error state fixed.

The pause state waits until the pause service in the manipulator
node receives the unpause message.  The error state now properly
fill the userdata.result key in the state machine.
Node is launched in /carousel. Fixed names in node

I reformatted the node a bit, added debug lines, and corrected
namespace issues arising from putting the node in /carousel,
instead of at the root.
Launch carousel_indexer node in ns=carousel.
Added manipulator pause capability.

The node now pauses/unpausesthe manipulator node when it receives
a GPIO change.
Merge branch 'master' into manipulator_pause
Cleaned up logging messages.
Merge branch 'manipulator_pause'