Removed multiple sorting of same message.

Some naming improvements.
Now closing on external ROS shutdown request.
Added robot_description and minor code maintenance

Capability for robot_description and schunk_description
Integrated common status widget text setter
Replaced angle calculations with radians(d) and degrees(r)
Merge branches 'master' and 'master' of git://github.com/felix-kolbe/uuisrc-ros-pkg
Merge branch 'master' of git://github.com/felix-kolbe/uuisrc-ros-pkg