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IK: combine PRs #239, #305, and #316 - #358

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mxgrey wants to merge 15 commits into
ros-industrial:kinetic-develfrom
mxgrey:merge_239_305
Open

IK: combine PRs #239, #305, and #316#358
mxgrey wants to merge 15 commits into
ros-industrial:kinetic-develfrom
mxgrey:merge_239_305

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