add gripper joint names to config file
add GripperBarName parameter
add config for the second arm
Merge pull request #3 from youbot-hbrs/master

add missing config file for the second arm in dual arm setup
The EtherCAT master without thread is now compatible with the new controller types
update the youbot-manipulator2.cfg
update documentation
if the api is used in a ros node it can use the ros logging
Merge branch 'master' into firmware2

Conflicts:
	config/youbot-manipulator2.cfg
	youbot-uml-models/113.session
	youbot-uml-models/161265
	youbot-uml-models/425713.bodies
	youbot-uml-models/472049.bodies
	youbot-uml-models/youbot-uml-models.prj
	youbot/EthercatMasterWithoutThread.cpp
	youbot/YouBotGripperBar.cpp
	youbot/YouBotGripperParameter.cpp
	youbot/YouBotGripperParameter.hpp
update UML diagram
update CMakeLists files
the same driver supports now firmware 1.48 and 2.0