Merge branch 'master' of github.com:willowgarage/ros_control
User error checking
Merge branch 'master' of github.com:willowgarage/ros_control
Merge pull request #70 from pal-robotics/master

Make specific transmission interfaces proper types.
Merge pull request #67 from davetcoleman/master

Added user error checking to namespace argument
Merge branch 'master' of https://github.com/willowgarage/ros_control into safety_interface
Separate URDF dependencies from interface core.

- Create URDF-agnostic joint limits specification.

- Add convenience methods for populating these structs from URDF joints.
  This might be moved elsewhere in the future, maybe to a place where all
  URDF-specific stuff lives.

- Update tests.