add CMakeLists for caktin metapackage
Added base_frame parameter (default base_link) that can be set to base_footprint for robots that use base_footprint instead of base_link
Updated package.xml and CMakeLists.txt in ros_arduino_msgs to fix Jenkins doc build error
Cleaned up CMakeLists.txt in ros_arduino_msgs
Fix servo contract (radian is float)
Merge pull request #11 from yellow-sky/fix_servo

Fix servo contract (radian is float)
Added AnalogWrite.srv and added code to use the arduino pwm output