Converted ramp_debug package from Eigen to the ROS tf package for
matrix math. There are also changes to the publish* nodes for testing
currently being done to analyze the Corobot's error.
Code added to take error into account when determining robot position
Added code to for testing and reducing the error
Removed some print statements and altered a print statement in waitForCommand
Changes made to update with new IPs and more measurements
Fixed the collision_detection - somehow the merge changes got
overridden after converting Eigen calls to tf calls. Edited the launch
files to set the robots' ros environment to hydro and not groovy, and
also changed the node and package names. Minor misc changes made in
other places.
Changes made to add basic simulation
Added the world directory to hold Stage worlds for simulations
Bugs fixed: 1) The circle in the Qt application should be correctly
positioned now. It was incorrect before because we were using the left
wheel as a reference point. Now that we are using the center of the
wheels, it is much easier. 2) The correction of orientation by
adjusting the angular velocity was happening even when the robot was
turning. We only want that behavior when the robot is driving straight.
Changes made to have both robots in the simulation. The test1 world has
been added, but need to add a world file for test2. The grid does not
always show up and I haven't gotten the visualizer class set up yet.
Added world file to test2.
Made initial changes to planner
Added ParameterHandler class. This class will get and set ros
parameters.
Merge branch 'reflexxes' of https://github.com/sterlingm/ramp into reflexxes

Conflicts:
	ramp_debug/src/getYaw.cpp
	ramp_debug/src/publish_trajectory_command.cpp
	ramp_debug/src/utility.cpp
	ramp_debug/src/utility.h
	trajectory_visualisation/src/Ros.cpp
Merge branch 'reflexxes' of https://github.com/sterlingm/ramp into reflexxes

Conflicts:
	ramp_launch/launch/launch_include/motors.launch
	ramp_launch/launch/launch_include/phidget_sensors.launch
	ramp_planner/src/main.cpp
	reflexxes/src/Reflexxes.cpp
Fixing merge...