Removed an empty line.
Renamed an internal function to avoid name conflicts.
Added convenience functions for users to reset safety brakes of beasty.
Added convenience function for users to check whether motor power has been turned on.
Refactored: Beasty interface now reports its state as a value fluent.
Also exported symbol of class beasty-interface.
Clarified some doc-strings.
Added: Representation and extraction methods to get joints in collision from Beasty.
Added: Automatic publishing of visualization markers to show detected joint collisions.