Basic ROS admittance control to demonstrate/test wrench output and cartesian velocity input.
Change INFO messages for DEBUG ones in joint and cart. velocity callbacks.
Publication of joint velocities in JointStates topic. Effort too, but the values are not necessarily valid (API returns fixed values).
Changed the default cartesian velocity timeout to a value that enables correct velocity control from the API (no pauses between calls).
Fix a whitespace bug in demo goal generator and add a pose sequence with valid quaternions.