Merge pull request #247 from ipa-fmw/indigo_new_structure

updates from cob4-2
cob3-9
Merge pull request #248 from ipa-cob4-2/indigo_dev

comment mimic
setup cob3-9
setup cob3-9 simulation
Update cob3-9.xml
cob3-9
Merge branch 'cob3-9' of github.com:ipa-nhg/cob_robots into cob3-9
Merge pull request #250 from ipa-nhg/cob3-9

Cob3 9
Merge pull request #249 from ipa-fmw/indigo_new_structure

add service_ns for base
cleanup: cob4-1 with torso and head; cob4-2 without torso and head