Added service method fot communication with master
Merge pull request #13 from JohanJohansson/master

Added service method fot communication with master
Small change
Merge pull request #14 from JohanJohansson/master

Small change
Change in width
Merge pull request #15 from JohanJohansson/master

Change in width
Merge robot changes
Merge branch 'valeRB-master'