start a new node implementation
add motion objective server creation
switch the executable names back
fix segfault because nodehandle was declared too late
fix temp loop rate
move update function declaration
add the main loop
fix inverse loop rate
update some comments
cleanup includes
cleanup includes in the new node
indentation, rename GoalCB to goalCB and CancelCB to cancelCB
add *Ptr and *ConstPtr typedefs for MotionObjectives
add mapping from goals to motion objectives
also store the handle in the goal_map as a std::pair
check for succeeded motion objectives and remove them
properly accept goals
Merge pull request #1 from Rayman/new-node-implementation

full action server main node implementation