proxy for Cartesian controller (ros ticket #5147)

[ahendrix]

We would like the jt_cartesian_controller to have a proxy, the way the joint controller does, so that it no longer overshoot-oscillates when the setpoint is too far away.

Gunter has agreed to write the main proxy code, and Stu has agreed to integrate it once that is done.

trac data:

• Owner: sglaser
• Reporter: kaijenhsiao
• Reported at: Tue Sep 13 11:10:38 2011
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/5147