Updated the identification and simman gui look.
Added multi-master support and rqt prespective to caddy launch files.
Added the NZModel to ldtravocean.
Split the depth and altitude controller.
Tested the altitude and depth controller. Updated the windup criteria for PIFF.
Added the separate altitude controller to the SimMan GUI.
Updated the ldtravocean launch files to incorporate the seprate depth controller.
Added the altitude identification procedure.
Merge.
Merge.
Merge branch 'ldtravocean_trencher_v1', remote-tracking branch 'origin' into ldtravocean_branch_v2
Merge.
Corrected the bug in identification server. Added buoyancy publishing in ldtravocean extended estimator.
Updated to the altitude, depth and reference controllers.
Updated the launch files to work with the Alcatel trencher.