(wiki) add support section.
Merge pull request #296 from 130s/edit_readme

(wiki) add support section.
Fix default frame name
Fix a problem that return value None
add unit test
Add debug msgs
Extend how to specify the frame_name
Merge pull request #298 from DaikiMaekawa/fix-default-frame

Change the value of the default arguments to WAIST
Add launch files with simpler names.