Meta-Issue for FTP objectives:

• Refactor TrajectoryExecutionManager for realtime execution of trajectories
  • Tighter integration of MoveIt to ros_control using C++ API
  • Improved preemptible trajectories
• Implement concept of global and local planner
  • Define APIs for both
  • Create realtime, non-blocking interface between the two control frequencies
  • Optimize code / remove dynamic memory allocation