ChickenHead Plan. #43
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A plan that keeps the pose of an imaginary frame (chicken head) constant in world frame, based on measurements of the relative transform between the imaginary frame and the end effector frame.
Establishes a pattern for subscribing to additional lcm channels in the Plan and properly terminating them in the destructor of that Plan.
Also addresses a few long-standing issues, including #17 and #30.
This change is