robot unit: fixed wrong setting of emergency stop setting

See merge request ArmarX/RobotAPI!44

robot unit: fixed wrong setting of emergency stop setting (state was not published) (activation is delayed for one non-rt cycle)

RobotUnit: self collision checker uses now the collision checker of the robot model instead of the global instance
refactored floor string to use a constant

Conflicts:
	source/RobotAPI/applications/CMakeLists.txt
	source/RobotAPI/components/CMakeLists.txt

extended CartesianVelocityController to consider joint limits

See merge request ArmarX/RobotAPI!43

fixed joint limit check: not only near joint limit is considered a violation but also exceeding the joint limit

extended CartesianVelocityController to consider joint limits and disable the joint limits if the they would run over a joint limit

This reverts commit 0ac3031b.

controller

Revert "VelocityControllerHelper: make use of new robotunit function to remove and delete controllers"

This reverts commit a3e0c32a.