First implementation of the cartesian controller server now works properly
First implementation of the cartesian controller server now works properly

ScazLab/human_robot_collaboration,ScazLab/baxter_collaboration,ScazLab/human_robot_collaboration,ScazLab/baxter_collaboration,ScazLab/human_robot_collaboration,ScazLab/human_robot_collaboration,ScazLab/baxter_collaboration,ScazLab/baxter_collaboration