Added the diver kinematics URDF testing node. Added the shoulder DOFs.
Added the CART2 driver node.
Added the IMU readear node layout for CART. Once the sensor is available we can finish the node underlying communication.
Adaptation to the cart driver.
Merge branch 'pladypos_impl' of ssh://pladypos/~/catkin_ws/src/labust-ros-pkg into model_control_nodelet