Merge pull request #191 from ipa-fxm/indigo_dev

Indigo dev
use VelocityJointInterface for cob4_torso
use adapter as pure velocity adapter
tune lookat_controller for cob4_torso
first tests with velocity_interface_controller for lwa4p_extended arms
moved frame_tracker to separate package
use interactive_target also for non-lookat twist_control
pure JointVelocityController - no JointPositionController
parameterization for frame_tracker and interactive_frame_target
use same PIDs as in ros-industrial repo
Merge branch 'hydro_dev' into velocity_interface_controller
more testing
Merge branch 'hydro_dev' of github.com:ipa320/cob_robots into velocity_interface_controller
back to velocity controllers
merge wih ipa-fxm
updated parameters and launch files, modified adapter for switching
Merge branch 'hydro_dev' into velocity_interface_controller
Merge branch 'velocity_interface_controller' of github.com:ipa-fxm-fm/cob_robots into velocity_interface_controller
adapted gripper controller
merge conflict