Alternative implementation of multi-group trajectories and update motoman error handling#488

nardavin wants to merge 4 commits intoros-industrial:noetic-develros-industrial/motoman:noetic-develfrom

MisoRobotics:user/nardavin/feature/multi-group-trajectoriesMisoRobotics/motoman-public:user/nardavin/feature/multi-group-trajectoriesCopy head branch name to clipboard