Added a service for relaxing all joints.
Added a range_scale parameter to allow for scaling the travel range of the servos.
Driver now gets the firmware version from the controller when initializing, and exits if it fails.
Added a parameter to skip initializing the joint to the default angle.
Fixed getting the controller name in the jointCallback function.
Touched up code from last commit.
Commands are now sent to the ssc32 in the jointCallback function.
Driver now supports velocities from JointTrajectory messages.
Adding an example configuration file.