Merge pull request #7 from gaya-/master

[cram_beasty] typo in the manifest
Added conversion function for fccl_msgs/SingleArmMotionFeedback.
Added listening to feedback from fccl-controller.
Exported symbols to create kinematic-chain.
Bugfix: renamed wrongly used class-name.
Bug-fix: fccl controller expects function names in lowercase.
Added: Method to query whether fccl-motion finished.
Added dependency on cram-language.
Refactored: Constraints state now reported as a fluent.
Refactoring: Re-ordered methods in file to separate exported and internal implementation.
Bug-fix: Resetting state-fluent with every new motion-command.
Added: Initial version of new package cram-pr2-controllers.
Added rudimentary controller-manager functionality.
Renamed functions to sth speaking.
Refactored controller manager code to use a handle.
Guarding calls to pr2 controller manager with mutex.
Added code to command start pr2 arm position controllers.
Refactoring: Using new convenience function to get joint-state out of robot-state.
[cram_json_prolog] some improved error handling for ROS communication.