Tweaks
Merge branch 'hydro-devel' into development
Created new experimental package for testing Baxter characterization
Created benchmarking pkg
Updated IKFast solvers, worked on benchmarking
Benchmarking work
Switched to IKFAST
Created experimental script for pendulum
Added velocity interface to baxter
Enabled auto-enable feature again
Fixed switching controller functionality
Finished fixing mode switching
Control work
Fixed gripper controller issue
Renamed files
Added head following
Averaging sonars together
Finished sonars
Merged
Testing two different control methods