Charging process now an actionlib server.
Added a client for testing, modified messages to report on progress and implemented simple self-diagnostic.
Documentation update.
Removed redundant files.
Docs update
Calibration params now saved to /.charging.yaml. Code rewritted towards human redability. Docking/undocking can be initiated by joystick button X. Controller speed-up. Added test mode for automated trials and a test script.
Merge pull request #20 from strands-project/gestom

Gestom