Merge pull request #5 from ipa320/groovy_dev

merging ipa320 to ipa-fmw
Merge pull request #34 from ipa-fmw/groovy_dev

merging ipa-fmw to ipa320
waiting for gazebo services
Adapt to the new cob_controller_configuration_gazebo structure
Merge pull request #41 from ipa-fxm/groovy_dev_cob4

Adapt to the new cob_controller_configuration_gazebo structure
setup tests
Merge branch 'groovy_dev' into groovy_release_candidate