[calibrate_chest] Add action server with check for correct angle

This adds a new action server node with action server named `calibrate_chest` that

* Computes the transformation if you send command `calibrate`
* Publishes the transformation if you send command `publish`

It also has instructions if you send the wrong command and checks that the angle is close enough to the desired 46 degrees. If it is too far away, it does not send the calibration and returns a warning.

Test with `rosrun actionlib axclient.py /calibrate_chest` and enter the commands above.