move unified scan publisher to cob_navigation
Merge pull request #97 from ipa-fmw/groovy_dev

move unified scan publisher to cob_navigation
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 branch 'groovy_dev' of github.com:ipa320/cob_driver into 320-groovy_dev