Task planner working

dynamic_controller/CMakeLists.txt

dynamic_controller/config/joint_controller.yaml

dynamic_controller/config/joint_planner.yaml

dynamic_controller/config/redundancy_controller.yaml

dynamic_controller/config/task_controller.yaml

...controller/include/dynamic_controller/JointController.hpp

..._controller/include/dynamic_controller/TaskController.hpp

dynamic_controller/launch/pose_controller.launch

dynamic_controller/src/JointController.cpp

dynamic_controller/src/TaskController.cpp

dynamic_controller/src/task_controller_node.cpp

potential_field_planner/src/JointPlanner.cpp