Fixed the check for whether the action server that called cancel is
the current server, so that it doesn't cancel itself
Fixed the action server to use the goal callback pattern instead of the
execute callback pattern
Changed the error acceptance threshold and added debugging output
Changed the condition for checking if the trajectory was accepted -- The
action server may not get set active until later. This may be wrong but
seems to work
Added debugging output
Fixed ignored blend type in movejoint
Changed the condition for checking if the trajectory was accepted -- The action server may not get set active until later. This may be wrong but seems to work
Added robot state publisher to publish TFs