Merge pull request #50 from mlosch/master

Add velocity watchdog, that adjust velocity when close to a wall.
shake untested
shake untest
shake with bugs fixed
shake slowly
Merge pull request #51 from Wlan1991/master

robot can shake
Merge branch 'master' of https://github.com/KTH-RAS-HT14-G9/controllers
make shake velocity parameter
goto fixes
fix raycast hit flag