Merge branch 'master' of bitbucket.org:asantamaria/quadarm_task_priority_ctrl

Simulation working with IBVS (all kinton autonomy nodes). ROS node tag v0.3. With weighted pseudo-inverse. No saturations. With CoG secondary task. No joints limits secondary task.

TAG: Simulation working with IBVS (all kinton autonomy nodes). ROS node tag v0.2. With weighted pseudo-inverse. No saturations. No secondary tasks.

TAG: Simulation working with IBVS (all kinton autonomy nodes). ROS node tag v0.1. No weighted pseudo-inverse. No saturations. No secondary tasks.