Merge pull request #3 from ipa320/groovy_dev

Groovy dev
Merge branch 'groovy_dev' of github.com:ipa320/cob_driver into groovy_dev
Merge branch 'groovy_dev' of github.com:ipa320/cob_driver into groovy_dev
Merge branch 'groovy_dev' of github.com:ipa320/cob_driver into groovy_dev
cob_footprint_observer: introduce epsilon for adjustment and get rid of annoying warning message
Merge branch 'groovy_dev' of github.com:ipa320/cob_driver into groovy_dev
odometry calculation for 3 wheels
edited odometry calculation so that we are now flexible on how many wheels we use
bugfix flexible odometry calculation based on number of wheels
Merge pull request #100 from ipa-srd/groovy_dev_cob4

Groovy dev cob4
Merge pull request #102 from ipa-mig/groovy_dev

cob_footprint_observer usability fixes
Merge branch 'groovy_dev' of github.com:ipa320/cob_driver into groovy_dev
add gitignore
Merge pull request #103 from ipa-fxm/groovy_dev

Groovy dev
modified phidget config
Merge branch 'groovy_dev' of github.com:ipa-bnm/cob_driver into groovy_dev
fixed crash due to non existing phidget configuration for an attached board
removed some debug outputs
Merge pull request #105 from ipa-bnm/fix/cob_phidget_crash

Fixed cob_phidget startup crash
remove launch and yaml configuration. this should be either in cob_robots or on the ROS wiki page