Halfway through implementation of manual controller. Gazebo physics sim seems mostly working, at least for the moment. I've added a misc/ subdir which contains the updated gazebo plugin file, and a readme detailing where it goes and what it does and such. I really need to figure out the gazebo/ros api, find decent documentation on it (if it exists), or go bug someone about all the unfinished code in that file some time. But for now the hacks I've made should suffice...
Updated readme in misc/ with where the ros/gazebo api code goes in the gazebo codebase.
minor update to misc/readme