Merge pull request #3 from ipa320/groovy_dev

Groovy dev
Merge branch 'groovy_dev' of github.com:ipa320/schunk_modular_robotics into groovy_dev
fix sdh description according to new gazebo format
Merge branch 'groovy_dev' of github.com:ipa320/schunk_modular_robotics into 320
some more fixes and cleaning up for gazebo simulation
Merge pull request #31 from ipa-fxm/groovy_dev

Groovy Updates for gazebo simulation