[Indigo] use VelocityJointInterface hardware interfaces for simulation of all bases

Merge together with [cob_robots#234](https://github.com/ipa320/cob_robots/pull/234)

This PR improves simulated Odometry with a factor of about 10...especially when a "Zero-Twist" is sent, i.e. base should not move at all.

@ipa-mig and others from the Nav-Team please review (do you have students working with simulation?)