Added getString() for ints.
Added some conversion utils. They aren't great.
Added param for getting joint limits to choose between safety & hard if both are available.
Added function to convert vector path to JointTrajectory. It should really also take in a vector of strings to be used as joint names.
Added functions to get markers for Arrows and Axes
Added function to print pose vector
Merge remote-tracking branch 'upupstream/groovy' into hydro