fix test: isEmpty() requires that robot_state be diff
clean up numerous dirty transform messages
fix fcl_collision_detection tests
closer to fixing constraint sampler tests
update to use non-deprecated call
Merge pull request #208 from mikeferguson/update_fcl_api

update to use non-deprecated call
Merge pull request #209 from mikeferguson/fix_108_109_110

fix fcl_collision_detection tests
Merge pull request #206 from mikeferguson/cleanup_test_output

clean up, start to fix constraint sampler tests
Merge pull request #205 from mikeferguson/fix_116

fix test: isEmpty() requires that robot_state be diff
Fix truncated debug message
Merge pull request #210 from davetcoleman/debug_model

Fix truncated debug message