Full simulation model added

Can someone please look over this stuff, and especially pull it onto your computer and follow the LunArena2 instructions? Let me know if anything blows up, because at this point i dont know if i installed some debians for dependencies, or everything i needed is here. Oh, actually if you want to use the bumblebee2 gazebo camera for disparity, just make sure you have stereo_image_proc installed somehow. You can normally follow the github wiki for running it how basheer described to.