Setting a goal that's "far" from the current pose

[mpomarlan]

Setup:

Have the PR2 in the same start configuration as in the interactive markers example (may use that launchfile, with the section starting the interactive_markers node commented out).

Send a goal to both arms that has the pose-stamped: frame_id "base_link", stamp 0, translation {0.7 0 0.7} and rotation {0 0 0 1}.

Outcome: the controller fails to start and produces the message "Init of QP-Problem returned without success! ERROR MESSAGE: Maximum number of working set recalculations performed".