Merge branch 'hydro-devel' into hydro-devel-c-api
Added (uncommented) pos/vel/acc trajectory AS

The joint trajectory action server should now be working for
Position/Velocity/Accleration commands
Added UR simulation controller

Rewrote run_controller interface for running controllers to use
compiler definitions instead of seperate files.  Added ur_sim_controller
which should simply forward commands to the internal state.
Added URControllerManager

This is an interface for the controller manager which keeps
persistent connections to the services and also provides utilities
for dealing with joint command modes