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Adding a hybrid JointTrajectory/velocity-forwarding controller.#383

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AndyZe wants to merge 6 commits into
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UTNuclearRobotics:kinetic-TrajOrJogController
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Adding a hybrid JointTrajectory/velocity-forwarding controller.#383
AndyZe wants to merge 6 commits into
ros-controls:kinetic-develfrom
UTNuclearRobotics:kinetic-TrajOrJogController

Only restart the trajectory controller if necessary.

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