Merge pull request #9 from ipa320/groovy_dev

merging ipa320 to ipa-fmw
Merge branch 'groovy_dev' of github.com:ipa320/cob_driver into groovy_dev
fix compile bug
Merge pull request #71 from ipa-fmw/groovy_dev

merging ipa-fmw to ipa320
Merge pull request #10 from ipa320/groovy_dev

merging ipa320 to ipa-fmw
Merge pull request #72 from ipa-fmw/groovy_dev

merging ipa-fmw to ipa320