Use both 32-bit and 64-bit libraries.

Put libraries into 32-bit/64-bit folders base on architecture. This
should allow both architectures to work. Some testing still required.
Some general cleanup and name changes.

Service names changed to omit the "E" part:
Estop -> Stop
Estart -> Start
General cleanup and refactoring.

Made a bunch of comparison code more succinct.
Fixed home position recognition.

Arm can now detect when it's home (approximately) and will not enter
retract position when homing.
Topic cleanup.

Removed old topics from node and fixed launch file topic names to remove
leading "/". This allows topics to be put into a namespace for the arm.
Simplified parameters.

Parameters for topic names are no longer required to supress warnings.
Parameter retrieval is a bit cleaner.
Comment and whitespace cleanup.

Converted some comments to doxygen format for online documentation.
Require a transform for cartesian control.

Cartesian control will now error out when no transform is available to
the target frame instead of spinning.