Final pull request


![aruco_test](https://f.cloud.github.com/assets/3776893/1521864/15b7af0c-4b9c-11e3-8187-6766be0ed8ec.png)
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> built and tested
-> a few failures when launching with  piTagIni_0.xml (same file as in the ipa320 branch)

-> for  launching with fast pitag use fiducials_fpitag.yaml