Corrected the denepdency of the USBL package. Added the conversion of NED,RPY to vector.
Setting up launch files for caddy.
Updated the caddy launch files.
Corrected the bug in the KFModelLoader.
Updated simman gui to ignore non existing services.
Removed the dependencies on KDL for rotation transformation. All rotations use Eigen library from now.
Merge.
Merge update.