Merge pull request #42 from cburbridge/master

[PTU] Using joint names to select PTU joint for control. Solves #40
Closing issue #41. Changed the odometry interval to 20ms. This means that the odometry is sent every 20ms. This is the fastest rate I could achieve. Any faster and the odometry was not published any more. The resulting rate is ~47hz. We tested this odometry rate for quite some time and it does not seem to have any negative effects.
Merge branch 'master' of https://github.com/strands-project/scitos_drivers
Merge pull request #44 from cdondrup/master

Changed the odometry interval to 20ms
Adding exception catching for mira parameter access. Issue #23