Added function to set foot contact points in the ROS message.
Added function to set foot contact points in the ROS message.

RobotLocomotion/director,openhumanoids/director,RobotLocomotion/director,patmarion/director,mitdrc/director,patmarion/director,RobotLocomotion/director,patmarion/director,RobotLocomotion/director,mitdrc/director,manuelli/director,mitdrc/director,patmarion/director,manuelli/director,openhumanoids/director,openhumanoids/director,mitdrc/director,manuelli/director,RobotLocomotion/director,openhumanoids/director,manuelli/director,manuelli/director,patmarion/director,openhumanoids/director,mitdrc/director