Merge pull request #149 from ipa-bnm/refactor/phidgets

Refactored phidget launch
adjust rviz config
fix diagnostics in simulation
move rviz config to robot folder
fix rviz soft links
fix simulated cam3d topics
add tray sensors to simulation
set fixed frame to base_link
fix desire dual sdh
setup tests
Merge branch 'groovy_dev' of git://github.com/ipa320/cob_robots into groovy_dev