TODO

- Reduce bandwidth of /tf topic: Do not broadcast intermediate frames.

- Reduce log statements, make better use of severity levels.

- Use a KDL subtree with only relevant joints/links, and not the whole robot tree.

- Allow more general endpoint specification (Investigate possible use of iTaSC for this point and the above).

- Move away from service-based IK calls to a plugin-based one.

- Simplify configuration files.

- Make stack robot-agnostic (and remove reem_ prefix from name).

- Document public API.

- Add proper unit test suite.

- Create branches specific to each supported ros release.