Comment Cleanup

I'm reading through the code before I start to modify it ( I'm working to have PoMoCo support control through a ROS service. ). I noticed a few minor spelling / formatting inconsistencies, so I've corrected them. I figure I'll submit a pull request before I do anything stupid ;).

I'm also going to be working out any bugs associated with Linux use, since I'm on 12.10. I've added Install instructions on your Wiki. As part of this.

~Will Oursler ( woursler@mit.edu )