Restore and Fix multi-group trajectory execution for multi-group robots#259

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Danfoa wants to merge 2 commits intoros-industrial:kinetic-develfrom Danfoa:kinetic-devel

+286-124

Commits on Feb 6, 2019

Restore multi-group trajectory execution
Danfoa
committed

Commits on Mar 1, 2019

Fix and complement multi-group motion capabilities
Danfoa
committed