F standalone node

Merge #8  first.


Defined a new package with a single node that publishes trajectory goals.

Tested with hand (running a trajectory controller of course). Works well.

The trajectories contain a single TrajectoryPoint with the latest set of joint positions received from the cyberglove.

The time to start is set to 10ms which is normally the time between datasets from the glove.

This will make (I hope) the operation of the hand in low power machine much smoother.