fixed estop acknowledge, testing on hardware

src/robot_command.cpp

test/robot_control/helper.h

test/robot_control/interpeter_states_test.cpp

test/robot_control/modes_test.cpp

test/robot_control/movec_test.cpp

test/robot_control/movej_test.cpp

test/robot_control/movel_test.cpp

test/robot_control/pose_transformer_test.cpp

test/robot_control/states_test.cpp

test/robot_control/wait_test.cpp