Added planar for angle 0 based on x/y plane
Fixed Merge Conflicts. Possibly broke alpha calculatoin if FK. Please check
Merge branch 'master' of https://github.com/Boberito25/ButlerBot
Added IK to rosbuild, basic planner. Maybe have end condition on astar flipped. No checks about Wspace
Flipped will continue so that it will continue.
Merge branch 'ikcode'
Merge
Merge