flickering solved / rviz has 7 secs before first joint state messages
are sent / parameter arrays / template function / small urdf changes
new commands:
roslaunch bp1human rec.launch title:=myTitle
roslaunch bp1human play_human.launch title:=leftarm
roslaunch bp1human play_marker.launch title:=leftarm
roslaunch bp1human rviz_human.launch
roslaunch bp1human rviz_marker.launch