controller edits to fix error with kdl tree
updating rml joint traj controller to properly permute joint names and broadcast controller state
rml_traj: adding empty-trajectory-stop behavior
rml: separating segment modification into const functions
rml: adding full actionlib support
rml_traj: Trajectory action working
Update README.md
Update README.md
rml: more robust actionlib support
Merge branch 'master' of github.com:jhu-lcsr/lcsr_controllers
Merge branch 'master' into ikwork