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