Refactoring: renamed all occurrences of inf9 to ias.

If something brakes, don't blame me and fix it yourself :)
pushed in ias_egg_manipulation pkg [work done by Matthias Putz]
base controller for simulated rosie now works
public export
adding a "simplified" simulation for the pr2
corrected stupid mistake in loopback_controller_manager
moved an executable into bin/
added joint-velocity interface to PR2.

(to be tested in reality).
moved new joint-controller to to right package

sorry for the name duplicate.
moved new joint-controller to to right package

sorry for the name duplicate.
corrected stupid typo leading to segfault.
fixed a segfault on wrong parameter content

... and fixed the parameter.
removed custom inital angles from launch file
stopped safety controllers from blowing the robot up.

they did so with the loopback_controller_manager when a joint was outside its
limits.
made ias_mechanism_controllers compile again

since the switch to Eigen3, rosie_odometry stopped compiling.
A define fixes that.
Added error message for setting joints in callback.
publishing multi-joint velocity controller
loopback_controller_manager: eliminated runtime warning

the position_ member variable of JointState was supposedly read-only,
but that may be applying only to the real robot, not a simulation.
removed a deprecation warning.

tinyxml is now a system dependency.
Launch file to spawn velocity-resolved controllers for the PR2 arms.