Joint Trajectory Action Server Feedback

[rethink-kmaroney]

• Adds standard feedback/results for the joint trajectory action server.
• Adds publishing of gripper action server feedback.

[rethink-kmaroney]

Filed ticket for addressing interp jump: http://www/trac/ticket/9156

[rethink-rlinsalata]

Looks good. Really nice to see that feedback! Adding a couple minor cosmetics and a rospy.on_shutdown() catch, and then merging.

[rethink-kmaroney]

Thanks Rob! Looks great.