add new qbo_joint_odom package via roscreate-pkg
first pass at joint odometry node

This is a first stab at a node providing information on head join state
as a tf frame.
update joint odometry to read from ROS parameters
make offset and head and base frame ids configurable
fix head frame id being set via ros parameter

If specified, the head and base frame ids were not being used.
joint_odom: remove use of {min,max}_angle_degrees
joint_odom: ubdate README
joint_odom: fix copy-and-paste error in README
add joint odometry to qbo launch file
Merge pull request #1 from sigproc/qbo-joint-odom

New package: joint odometry