Liyiming Ke

Hi! I have been enjoying XivAlexander a lot, thank you for making it to make challenging raid possible on high ping. However, during the past week (following the Chinese server...

Segmentation Fault if passing nullptr as testable in planToEndEffectorOffset

1

When calling `aikido::robot::util::planToEndEffectorOffset(metaSpace, metaSkeleton, bodyNode, direction, dart_testable, distance, planningTimeout, posTolerance, angleTolerance, vfParams)`, if set `dart-testable = nullptr`, would get a segmentation fault.

Failing test for `double free or corruption (fasttop)`

1

## Environment Ubuntu 16.04, master branch + libompl-dev (PPA:PRL) + kinetic + boost 1.58 + DART 6.7.2 (`libdart6-all-dev` from `PPA:dartsim`). I have nvidia 396.44 driver, which made me having some...

- [x] Update `hardware_franka` to use the latest Polymetis - [x] Specify a joint offset so real & sim Franka match - [x] Teleop Demo v0.1