Merge pull request #254 from reem-utils/chang_branch

Chang branch
forward node working
Merge pull request #255 from reem-utils/roger_branch

forward node working
update,  int32-->float64
Merge pull request #256 from reem-utils/roger_branch

update,  int32-->float64
Minor issues fixed, augmented publication rate
Merge branch 'master' of https://github.com/reem-utils/robocup2014 into chang_branch
Adding Search Ambulance