Merge pull request #1 from RCPRG-ros-pkg/cartesian-action

Cartesian action
Merge branch 'cartesian-action'
fix formating
properties added to interpolator
src/cartesian_interpolator.cpp tool incorporation
fix time measurement.
Merge branch 'master' of github.com:RCPRG-ros-pkg/common_controllers
fix damping in joint limit avoidance.
Merge branch 'master' of github.com:RCPRG-ros-pkg/common_controllers
fix missing port.
Merge branch 'master' of github.com:RCPRG-ros-pkg/common_controllers
Merge pull request #2 from twiniars/master

cartesian generator changes
implement proper action interface for CartesianImpedanceAction.
add wrench constraint.
fix interpolation of last trajectory segment.
cartesian trajectory interpolator fix