Umi bridge reverted.
Added EMFPubSub as a 'cheat' node that listens to publishes to move_group/result and publishes encoder targets.
Added some controller related files as a test step towards organising the controller/control system like 'youbot'.
Some edits to ther files in the process of above additions.
EMFPubSub input and output working as intended. Arm responding as predicted (i.e. slightly wrong up_down, wrong wrist angle, no gripper).
Working kinematics (Offset joint angles however). Starter Gripper.
pre metapackage merge
Merge branch 'test' of https://github.com/LHSRobotics/hsrdp into test