Merge branch 'ldtravocean_branch'
Added the direct control option in the velocity controller and commented out the surge limited part that was used as a quick fix for CART2.
Moved the locations into the snippet package for now. Added the configuration files for pladypos based on the CART2 templates.
Added thrust scaling from [-1.0,1.0] to [-100,100].
(cherry picked from commit c99ea12d4f9963da48b9bb86ef8fdfdfaa752f72)
Removed the simenv.bash configuration file. Use the template for additions and a local copy for configurations.
Merge with master.