Fixes #92 - tactiles fixed

Fixing tactiles and adding a few cosmetic improvements (better colors in gazebo). 

Also added a script to touch ff and th in sr_examples.

Here's gazebo with the improved colors:
![launch_gazebo](https://f.cloud.github.com/assets/557182/2186512/c6adbe00-97e6-11e3-8762-71e96c3e2564.png)