[qp-controller] switch example with interactive markers to yaml-controller

[airballking]

Lesson learned today during pouring on real PR2: It's more convenient to just have one YAML-controller and figure out how to write N YAML-files on the fly. Might be problematic for something like visual servoing, but I'll figure that out later.

For now, switch the interactive marker example to the yaml-controller.

[airballking]

Time flies. I still think the above is true, but have not managed to switch the interactive marker tutorials to the yaml-controller.

However, there is a yaml-interface, now. I am undecided whether it makes sense to switch away from the STANDARD-CONTROLLER interface. It seems to be the easier interface for most people in the lab...