New library architecture. tested with simulation.

working with simulation. All tasks or separated. priority can be chosen from launch file.

Simulation working with IBVS (all autonomy nodes). ROS node tag v0.3 and v0.4. With weigthed pseudo-inverse. No saturations. With CoG secondary task. With joint limits tertiary task. @Robot

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

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