- Travis.yml continuous integration now runs and displays status in README.md
- logging is now done with faster and header only spdlog library instead of boost.log
- Removed ZeroMQ and AZMQ dependencies
- FRI CMake script intermittent errors resolved
- KukaFRIClientDataTest is updated and runs efficiently for commanding kuka iiwa arms
- KUKA Sunrise OS 1.11 supported
- Inverse Kinematics constrained optimization driver can update position based on arm sensors
- Many linux setup steps automated with robotics_setup repository, see robotics_setup tag for 4.1.0
