Check error conditions in path offsetter.
Check polygons for errors and other error conditions during process path generation.
Merge remote-tracking branch 'upstream/hydro-devel' into check_offset_results
modified parameters to trajectory filter
reduced joint speed limits
Merge branch 'hydro-devel' of https://github.com/ros-industrial-consortium/godel into hydro-devel
cleaned up package.xml files and updated license to Apache2
Merge pull request #16 from dpsolomon/check_offset_results

Check for various errors that could create malformed paths.
Updated message/service definitions. Moved visualization srv into process_path package.
Updated process_path nodes to utilize new msg/srv.
Merge branch 'hydro-devel' of https://github.com/ros-industrial-consortium/godel into hydro-devel