Merge pull request #85 from ipa-fxm/indigo_dev

Indigo dev
cleaning up
Merge pull request #86 from ipa-fxm/indigo_dev

cleaning up
modifications in tranmissions, removing of bumpers and small cleanups
Merge branch 'hydro_dev' of github.com:ipa320/schunk_modular_robotics into indigo_dev
switch to velocity interface
get rid off safety_controller and gazebo tags for more intuitive testing
fix center of mass
merge with 320
merge with new_model
changed inertia of link 5
Merge branch 'hydro_dev' into velocity_interface_controller
Merge branch 'velocity_interface_controller' of github.com:ipa-fxm-fm/schunk_modular_robotics into velocity_interface_controller
back to CAD inertia
Merge branch 'hydro_dev' into velocity_interface_controller
merge with hydro_dev
added inertias and limits for lwa4d
Merge branch 'velocity_interface_controller' of github.com:ipa-fxm/schunk_modular_robotics into velocity_interface_controller
consistency changes due to latest gazebo tag format
consistency changes due to new transmission format