Dev branch

The main change is in the parser. Now every time we receive a T character we reset the input buffer. 
if you want to look at the parser in detail you can uncomment L108 - L118 and set the ros log level to debug, then you can trace every packet. 

if you need to generate errors you can add the following code at L 107
```
static int ctr = 0;
if (ctr++ > 43)
  {
   char new_char = '1';
  ROS_ERROR("%c -> %c, buffer_ctr = %d", single_character, new_char, buffer_ctr);
  single_character = new_char;
  ctr = 0;
 }
```

I hope you agree with my changes, 

flavio