use fullbody_controller instead of controllers for each limbs
Merge remote-tracking branch 'mmurooka/fix-catkin-cmake-for-separate-workspace' into moveit-controller-setting
Merge remote-tracking branch 'mmurooka/moveit-controller-setting' into moveit-with-whole-body-ik-server
added virtual_joint to controller.yaml: this is nessesary for fullbody move_group, and is not harmful for limb move_group.