added a robot_state_publisher for the camera so the eye frames appear properly
made the estopper print more informative messages
added an odometry offset transform so it will not reset upon reconnect
added base trajectory cancelling to the network estopper. note: since move_base_msgs wasn't catkinized, this package couldn't depend on it. instead, its h files were copied over
Merge branch 'groovy-devel' of http://github.com/adamjardim/youbot_common into groovy-devel