Big ol rewrite
More refactoring
Arm Control Debug
Torso debug
Head and Gaze Debug
Namespace Fixes
Launch files
Respawn rviz
Straighten out cart_marker
Add leading slash before tip name
Fix arm pose frame
Remove a few unused lines
Some testing flags
MIMIC tags
Arm marker improvementst
Finger open and close
Merge branch 'interactive_markers_work' of github.com:DLu/nasa_r2_common into interactive_markers_work
More quaternion fix
Hook em
adding ec2.launch file.