Merge pull request #5 from ipa320/groovy_dev

merging ipa320 to ipa-fmw
Merge pull request #34 from ipa-fmw/groovy_dev

merging ipa-fmw to ipa320
Merge branch 'groovy_dev' of github.com:ipa320/cob_simulation into review320catkin
Merge pull request #35 from abubeck/feature/catkin

Upstream changes from groovy_dev