Made changes to isolate the problem - stopped modification procedure
from occurring, changed population size to 1, gave it a straight line
trajectory
Misc testing done
Changes made to test planner working with Reflexxes, will be deleting
the setup to try a new approach so I wanted to save the code in case I
need to come back to it
Made changes to trajectory_generator code to separate translational
(from planner) and rotational (from control) trajectories
Cleaned lots of stuff
Made changes to have ramp_control successfully request and receive a
rotation trajectory
Ramp_control will execute a rotation if needed and then execute the
translational trajectory. This method will not work with new
trajectories coming in from the planner each control cycle. It is also
inefficient to keep updating the speed, times, etc vectors.
Changes made for more testing. Acceleration values are not being sent
to Reflexxes - need to compute them in ramp_control.
More changes for debugging and testing