add init script and control table to debian packages
add debian package compilation products to gitignore
added fixes to LegIK and FK, added comments
fix up virtual start

add a "here's what to do next", chrt the process so it doesn't cause
problems, take out CAN init.
if the pcan devices don't exist, don't try to write to them. useful for virtual.
Merge pull request #4 from saulrh/fix/saul-debian

Fix debian packaging
Merge pull request #6 from saulrh/feature/virtual

Fix up the "virtual" start in the tech initscript
Merge pull request #5 from pvieira3/master

Fix to Leg FK and IK
Merged with master