add output publisher
add twist publisher script
fix controller and add damping
Merge branch 'indigo_dev' of github.com:ipa320/cob_control into indigo_dev
resolve merge conflict
Merge branch 'indigo_dev' of github.com:ipa-fxm/cob_control into indigo_dev
able to apply twists wrt to various coordinate system orientations
add test script for twist_stamped
null-space syncMM
able to add base DoFs to Jacobian solver - first tests - needs more debugging
publish to JointGroup controllers
temporarily revert to non-feedforward pid_controllers
fix twist_controller to be usable without base again
restructure test_twist publisher scripts
changes in initialization
temporary commit
merge_fm
merge_cm
revision of cob_twist_controller
cleaning up