YouBotConfiguration.h:
  - Removed unused/unnecessary armNameToArmIndexMapping map
  - Changed youBotArmConfigurations to be a vector of YouBotArmConfiguration pointers to avoid problems associated with initializing and passing around YouBotArmConfiguration objects (e.g., unnecessarily duplicating the entire object, unwittingly modifying a copy, etc)
	-- This ends up fixing some bigger problems, such as allowing for multiple actionlib::ActionServers to coexist (e.g., one per arm).

YouBotConfiguration.cpp:
  - Added deletion of YouBotArmConfiguration pointers in youBotArmConfigurations vector to places where the vector is cleared: The YouBotConfiguration default constructor and destructor.

youbot_oodl.cpp:
  - Fixed indentation issues: File now consistently indented to 4 spaces

YouBotOODLWrapper.h:
  - Changed gripperBar1Position and gripperBar2Position member variables to be vectors, allowing for multiple arms in the system.

YouBotOODLWrapper.cpp:
  - Most code changes are to support the change from YouBotArmConfiguration to YouBotArmConfiguration* in the youBotArmConfigurations vector.
  	-- This change could also have been done by using reference to a vector element (e.g., YouBotArmConfiguration &armConfig = youBotConfiguration.youBotArmConfigurations[armIndex]), but using a pointer protects against misuse/inadvertent duplication.
  - Changed commandTopicName for each arm to be the arm's given name from the launch configuration file. If users want arm_1, arm_2, etc., they can specify it in their launch file. This allows for other naming schemes to be used, and seems more consistent with the idea of having the armName parameter.
  - Fixed bug that prevented gripper positions from being reported when more than one arm was initialized:
	-- The YouBotOODLWrapper::gripperBar1Position and gripperBar2Position member variables only work for a single arm setup. By changing these to vectors of youbot::GripperSensedBarPosition objects, we can support multiple arms.
	-- Having multiple arms also poses a problem with the way gripperCycleCounter counts down/reports positions. Moving this counter logic outside the arm iteration loop avoids this issue.
  - Added code to set "armName/joint_limits/jointname_lower" and "/armName/joint_limits/jointname_upper" parameters on arm initialization, indicating the minimum and maximum values for each joint in the arm (post-calibration). This is convenient for control applications to have readily available.
Fixed indexing problem with new arm initialization code, where it was still assuming the new config was part of the arm configurations vector before it was actually added.
Changed tabs to spaces, made sure everything in youbot_oodl is 4-space indented
Fixed gripper reporting issue for single-arm configuration
Merge pull request #25 from hayesbh/master

Major bugfixes for multi-arm setups - Resolves ActionServer and gripper issues