connecting the real tracker to the visual servoing. If KINECT_SIMULATED=0, then no simulated kinect is loaded, making it possible to run the robot in simu while having a real kinect running
visual servoing subscribes to joint_states directly (a mux is remapping gazebo/joint_states if needed)
computing current cartesian speed for the arm
solving problems due to wrong base link - servoing not working yet
finally fixed tf problem
corrected prediction model, updating the model at regular interval (using last measurement if one is available), resetting model if we're predicting nan (because of a bad incoming value?) - seems more robust
Merge branch 'master' into F_connect_tracker_servo