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
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.
removed custom inital angles from launch file
made ias_mechanism_controllers compile again

since the switch to Eigen3, rosie_odometry stopped compiling.
A define fixes that.
publishing multi-joint velocity controller
Launch file to spawn velocity-resolved controllers for the PR2 arms.
Added unspawning of the regular PR2 arm controllers in the launch file.
Gains for velocity-resolved PR2 arm controllers. Tested on Raphael's left arm.
Added launch-file that just loads the velocity-resolved arm controllers without starting them.
Adding a watchdog to the joint velocity controller
watchdog: really reset the PIDs
watchdog on vel controller: cleanup
Testing the official PR2 cartesian twist controller
The cartesian twist controller
 * the configuration file
 * the lauch file
 * a test sommand for moving the robot arm start/stop