Added a command starting at the initial position
Added a command starting at the initial position

The JTAS now requires a current position of the robot to be supplied in
order to properly calculate a spline, and spline between trajectories.
The baxter_example joint_trajectory_client needed to be updated to
reflect this.

RethinkRobotics/baxter_examples,Sannoso/baxter_examples,jaspell/baxter_examples,wjchen84/baxter_examples