Added gripper and vise karel programs to fanuc code.
Initial commit of joint path loading.  State machine loads joint path during initial init phase.  No further testing
Interim check in of joint move motion.  Material load joint path added to state machine and task list (still not working).  Old planned paths still work as of this point
Joint motion driven by task description now complete.  Old advanced path planners still work as well.
Merged from master, partially manual
first cut implementing service server
Merge branch 'master' of https://github.com/mtconnect/ros_bridge
second implementation of service server. remains WIP
working version of the service server with the bridge client.  needs to be cleaned up to match format of the other nodes.
replaced MaterialHandlingService for the mtconnect_msgs/SetMTConnectState service and created an additional service client. Thus there's a SetMTConnectState client for the material load and unload
Modified transitions from MATERIAL_LOAD/UNLOAD_COMPLETED states to ROBOT_READY so that the SetMTConnectClient calls would be made/
Updated gripper code to ROS-Industrial format to make debug easier
Merge branch 'master' of https://github.com/mtconnect/ros_bridge
first clean up of the bridge client node.  WIP for fault handling.
Merge branch 'master' of https://github.com/mtconnect/ros_bridge
Gripper/Vise function now controlled from ROS
Updated licenses on source and header files to Apache2
Added joint points to task level xml parser, in prep for named home point
Merge branch 'master' of github.com:mtconnect/ros_bridge
added correction to server -- server acts on robot action request only when machine tool is in the READY state.