pal-robotics/play_motion — pull request #30 by adolfo-rt (2014-03-10 10:55:45+00:00)
Title: Refactor how controllers are checked.

- Unify in a central place controller checks.

- Busy controllers are detected at the earliest possible moment.

- Pave the way for incorporating motion planning. Without this changeset,
we risked computing approach plans even when play_motion is busy executing
executing a motion. Not good.