Created wl_ros_controllers.
Created steered_wheel_base_controller.
Created wheel_odometry_controller.
The steered_wheel_base_controller library is now built.
Cleaned up.
Created sw_base_controller_plugin.xml.
Created steered_wheel_base_controller.cpp.
The joint pointers are now stored in steer_joints_ and axle_joints_.
The controller now has basic functionality.
Added tf build_depend and run_depend elements.
The tf library is now linked into the base controller.
Parameter values are now used instead of values hard-coded into the controller.
Cleaned up some code.
Added a comment.
Made the limit enforcement functions into member functions.
Added some parameter retrieval code.
Added odometry code.
Added velocity command timeout code.
Implemented PID joint control.
Instead of tf, KDL is now used to find the steering frame positions in the
base frame. tf cannot be used because it depends on the time. When the base
controller was used with Gazebo and Gazebo was the time server,
tf::TransformListener::lookupTransform() would hang.