cleaned up the code
the cob_base_velocity_smoother now has a loop rate and some additional updates
Merge branch 'master' of github.com:ipa320/cob_driver
bugfix: added missing default value for parameter in velocity smoother
Merge branch 'master' of github.com:ipa320/cob_driver
Merge pull request #41 from ipa-frm/master

cob_base_velocity_smoother updates