update :start-auto-balancer and :stop-auto-balancer method according to hrpsys-base trunk update at https://code.google.com/p/hrpsys-base/source/detail?r=1039  commit ;; we do not need to change usage of these methods
update rtc name ;; Absoluteforcesensor => RemoveForceSensorLinkOffset according to hrpsys-base commit ;; https://code.google.com/p/hrpsys-base/source/detail?r=1040
Merge remote-tracking branch 'snozawa/rename_afs_rmfo' into support-odom-imu-topic
Merge remote-tracking branch 'snozawa/update_methods_according_to_AutoBalancer_idl_update' into support-odom-imu-topic
call read method of input port
fulfill covariance and velocity field of /odom