Fully working implementation

cubic_polynomial_planner/CMakeLists.txt

cubic_polynomial_planner/config/firefly_config.yaml

...clude/cubic_polynomial_planner/CubicPolynomialPlanner.hpp

cubic_polynomial_planner/src/CubicPolynomialPlanner.cpp

kinematic_controller/CMakeLists.txt

kinematic_controller/config/joint_planner.yaml

kinematic_controller/config/pose_planner.yaml

kinematic_controller/config/task_controller.yaml

...ontroller/include/kinematic_controller/TaskController.hpp

kinematic_controller/launch/pose_controller.launch

kinematic_controller/package.xml

kinematic_controller/src/TaskController.cpp

kinematic_controller/src/task_controller.py

kinematic_controller/src/task_controller_node.cpp

potential_field_planner/CMakeLists.txt

potential_field_planner/package.xml

potential_field_planner/src/JointPlanner.cpp