Switching DRC Robot modes causes segfault (Removing Joint)

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Issue #56 resolved
John Hsu created an issue
Here's how I can cause the crash
-- start Atlas DRC simulation and start simulating
-- in terminal:
    rostopic pub -1 /mode std_msgs/String '{data: "nominal"}'
    rostopic pub -1 /mode std_msgs/String '{data: "pinned"}'
    rostopic pub -1 /mode std_msgs/String '{data: "nominal"}'

-- simulation crashes after last rostopic pub --

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