Merge pull request #28 from hawesie/master

Updated documentation to cover actionlib.
A potential bug, which caused the visual charging to fail in simulation, has been removed. Moreover, the undocking now starts with slowly opening the eyes. That gives the users some time to leave the area behind the robot.
A potential bug, which caused the visual charging to fail in simulation, has been removed. Moreover, the undocking now starts with slowly opening the eyes. That gives the users some time to leave the area behind the robot.
Merge pull request #29 from gestom/master

Works fine on Linda
Linking commands necessary for OS X.