Adding copyright and license (GPL) to all source files
Added support for diferent physics properties on config files.
ATTENTION: now objects called terrain are used as common objects, change physic properties to isKinematic and mass 0
Now ROStoArmJoint respect names given on messages independently from order.
Changed urdf names to make them more user-friendly
Updated interface examples
Changed angular/linear factor to constraints supporting limits
Fixed error on g500ARM5.urdf