Merge pull request #3 from ipa320/groovy_dev

Groovy dev
Merge branch 'groovy_dev' of github.com:ipa320/cob_driver into groovy_dev
Merge branch 'groovy_dev' of github.com:ipa320/cob_driver into groovy_dev
Merge pull request #91 from ipa-bnm/groovy_dev

Improvements to phidget driver
cleaup merge hell
Merge pull request #92 from ipa-cob3-7/groovy_dev

relayboard version 3 on cob3-7
bug fix in voltage_control
Merge pull request #93 from ipa-cob3-7/groovy_dev

bug fix in voltage_control
Merge branch 'groovy_dev' of github.com:ipa320/cob_driver into groovy_dev
cob_footprint_observer: introduce epsilon for adjustment and get rid of annoying warning message
move unified scan publisher to cob_navigation
Merge pull request #97 from ipa-fmw/groovy_dev

move unified scan publisher to cob_navigation
Merge branch 'groovy_dev' of github.com:ipa320/cob_driver into groovy_dev
odometry calculation for 3 wheels
edited odometry calculation so that we are now flexible on how many wheels we use
bugfix flexible odometry calculation based on number of wheels
Merge pull request #100 from ipa-srd/groovy_dev_cob4

Groovy dev cob4
Merge pull request #102 from ipa-mig/groovy_dev

cob_footprint_observer usability fixes
Merge branch 'groovy_dev' of github.com:ipa320/cob_driver into groovy_dev
add gitignore