Adding a lua-script task definition/dynamics

[neckutrek]

By using LUA-scripting one could let the user define various task definitions and dynamics inside lua script files. These can then be launched at run-time by adding a TDefLua or TDynLua with the filename of the lua script as a parameter. This way the user needs not recompile hiqp to add his/her own tasks. Task definitions/dynamics could then also be changed at run-time which could improve tweaking a task definition or development can be done sort of in-the-loop. This is also a good complement to a future plugin-based way of letting the user create his/her own tasks without having to touch the code inside hiqp. One would preferably have both lua-scripting, and plugin-based task definitions/dynamics.

[rtkg]

Never tried LUA scripting, but having both, task definitions and task dynamics as plugins would definitely be sweet, especially with keeping a ros release in mind where users wouldn't necessarily want to fiddle with the source code.

[tstoyanov]

Tdef and Tdyn plugins with pluginlib are implemented, closing issue due to inactivity.