various fixes to avoid crashes, failures, getting stucking trying to get places, losing track of the actuator being moved, etc
various fixes to avoid crashes, failures, getting stucking trying to get places, losing track of the actuator being moved, etc

gt-ros-pkg/hrl_autobed_dev,gt-ros-pkg/hrl_autobed_dev,gt-ros-pkg/hrl_autobed_dev,gt-ros-pkg/hrl_autobed_dev,gt-ros-pkg/hrl_autobed_dev,gt-ros-pkg/hrl_autobed_dev