Version 2.2.0

Features

• Add wait_for_motion to wait until the robot has started doing motion before waiting for it to finish doing motion before sending the next command.
• Add checkbox that sets whether the EntrainAudio message "entrain" flag is true or not, which indicates whether the provided audio file should be morphed or just streamed.

Bug Fixes

• Fix typo in an if and in the interaction state sending.
• Check whether ROS publishers exist before using them.