Merge pull request #43 from acornacorn/groovy-devel

Groovy devel
fix comment
Added visual_mesh_scale_ to robot_model so that robot_state can create rviz markers with the correct scale
Merge pull request #45 from davetcoleman/groovy-devel

Added visual_mesh_scale_ to robot_model
make var names more consistent
fix conflict + update API
add getMaximumExtent() for JointModelGroup
include velocities in conversions
remove tabs