Changed the model node to generate GPS and IMU simulation data. Added the USBL nodelets for testing. Introduced the transform frames to be used with the TF library. Started working on the velocity control improvements.
Merge.
Added dynamic reconfigure support to the velocity controller. Added identification and manual control options for the velocity controller. Started integrating the service for high level controller selection.
Added a camera and joystick driving to the Cart2 simulation. Edited the velocity controller to publish negative z-axis. Added UWSim frame publishing to the model node.
Added the diver kinematics URDF testing node. Added the shoulder DOFs.
Added the CART2 driver node.
Added the IMU readear node layout for CART. Once the sensor is available we can finish the node underlying communication.
Adaptions to the imu node.
Changes to the CART2 control suite on the c-art vehicle.