Move until touch + refactor

[ClintLiddick]

Refactored trajectory controller to extract JointTrajectoryControllerBase and make it thread and realtime safe in all preemption, cancelation, and multiple trajectory request situations, which is especially necessary when adding an additional end condition from the force/torque sensor.

Current status:

• [x] JointTrajectory controller refactored
• [x] JointTrajectory controller tested on HERB
• [x] MultiInterfaceController updated
• [x] MultiInterfaceController tested on HERB
• [x] Cancelling trajectories implemented
• [x] Cancelling trajectories tested on HERB
• [x] MoveUntilTouchController implemented
• [x] MoveUntilTouch implemented in herbpy / ros_control_client_py
• [x] right/left MoveUntilTouchControllers config in herb_launch
• [x] MoveUntilTouchController tested on HERB

[ClintLiddick]

Done! MoveUntilTouchController is implemented and tested on HERB. There is probably still some issue with the final desired-state, which is currently just setting desired velocity and acceleration to zero. However, since the controller should be immediately unloaded after completion (as is done by herbpy), this shouldn't be a problem in practice.

@mkoval @OrenSalzman @Shushman @jslee02: You're all people who have previously or have offered to review controller code. I'm going to merge these pull requests and clean up the branches, and then request that some of you review the code in its entirety.