Fix issues with the parameter helper method. Add tests and docs.

.gitignore

CMakeLists.txt

README.md

include/ccf/util/NodeUtil.h

src/ccf/controller/RobotArmController.cpp

src/dummy_cgv_controller.cpp

src/dummy_rag_controller_a.cpp

src/dummy_rag_controller_b.cpp

src/moveit_cgv_controller.cpp

test/test_NodeUtil.cpp

test/test_NodeUtil.test