Improve: Error Handling

[RyanTheRobothead]

• Currently, there is quite a bit of "eating exceptions": catching, logging or printing some error info, and then not re-raising or returning failure.
• This leads to problems where, for instance, the gripper completely fails to function, but the node still reports action success
• We should ensure that errors in drivers and the interface are properly raised to callers, so the node/user can act/react accordingly