Merge pull request #1 from davetcoleman/master

Switched to storing a vector of shared_ptrs of Pid classes to prevent early construction
Never committed this debug output
Merging PR from dave
re-commenting introspection block
fixing traj_running flag, adding more documentation
adding example
script to publish a traj with a few points
Merge branch 'master' of github.com:jhu-lcsr/reflexxes_controllers