Conflicts:
	source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp

Mirko Wächter authored 6 years ago and Mirko Wächter committed 6 years ago

(cherry picked from commit 1d185911)

Mirko Wächter authored 6 years ago and Mirko Wächter committed 6 years ago

(cherry picked from commit b8430dc4)

Mirko Wächter authored 6 years ago and Mirko Wächter committed 6 years ago

(cherry picked from commit 8dda6b86)

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