adding a "simplified" simulation for the pr2
corrected stupid mistake in loopback_controller_manager
moved an executable into bin/
fixed a segfault on wrong parameter content

... and fixed the parameter.
stopped safety controllers from blowing the robot up.

they did so with the loopback_controller_manager when a joint was outside its
limits.
Added error message for setting joints in callback.
loopback_controller_manager: eliminated runtime warning

the position_ member variable of JointState was supposedly read-only,
but that may be applying only to the real robot, not a simulation.
removed a deprecation warning.

tinyxml is now a system dependency.
As of fuerte, tinyxml is a system dependency.
Merge branch 'master' of ../tumros/loopback
Merge branch 'master' of ../tumros/ctrlrs
Reviving loopback_controller_manager because gazebo is getting on my nerves...
Launch-file for loopback-controller-manager: Added tf publishing and removed hard-coded initial configuration for pr2.
Added missing dependency to robot_state_chain_publisher.
Extracted loopback_controller_manager from the feature_constraints_controller repository.
Merge branch 'master' of ../feature_constraints_controller