Merge pull request #37 in SWDEV/franka_ros from rcu-16.0.0 to master

* commit '3537d9016ff55b7308cce96d384d5d8561fd3ee4':
  Remove unnecessary include.
  Increase number of background threads to allow parallel service calls.
  Add new errors, sort in libfranka order.
  Use franka::Frame instead of strings
  added kinematics to model example controller
  added Jacobians and forward kinematics to model interface