Changed the model node to generate GPS and IMU simulation data. Added the USBL nodelets for testing. Introduced the transform frames to be used with the TF library. Started working on the velocity control improvements.
Merge.
Added dynamic reconfigure support to the velocity controller. Added identification and manual control options for the velocity controller. Started integrating the service for high level controller selection.
Added a camera and joystick driving to the Cart2 simulation. Edited the velocity controller to publish negative z-axis. Added UWSim frame publishing to the model node.
Added the joy scaling control in dynamic reconfiguration.