Refactoring: Users can now cancel commands, and action goals are sent through a new designated function.
Refactoring: reset-safety now uses new message to send goals to beasty.
Removed two superfluous aux-functions.
Refactored: Split function to send goal into two functions. One for sending a cancelable goal, and one for sending a non-cancelable goal.
Added some doc-strings.
One more doc-string.
Slight code-reordering.
Updated doc-string.
Bug-fixes: If a goal is canceled, there will be no result-msg and the status will be :aborted. Adopted goal sending to beasty to cope with this.
Added useful default init-value for joint-collisions in beasty-state feedback.
Added method to extract to severest type of collision reported by beasty controller.