Merge pull request #1 from francois-keith/groovy

Warning removal and uniformization
Change default position to avoid singularities
Add custom pr2 description for simplification
Merge branch 'groovy' of https://github.com/bcoudrin/sot_pr2 into groovy
Fix bug on odometry listener
Fix base controller twist control
Add joint velocity input to Pr2Device
Fix velocity input of Pr2Device