Merge pull request #3 from ipa320/groovy_dev

Groovy dev
Merge branch 'groovy_dev' of github.com:ipa320/cob_driver into groovy_dev
new parsing function
fixed little issue and tested on raw3-1
Merge branch 'groovy_dev' of github.com:ipa320/cob_driver into groovy_dev
changed service message description from index to uri
example config changed
debug infos
Merge branch 'groovy_dev' of git://github.com/ipa320/cob_driver into groovy_dev
fixed include error
added topic to set digital outputs
changed template config
Merge pull request #91 from ipa-bnm/groovy_dev

Improvements to phidget driver
cleaup merge hell
Merge pull request #92 from ipa-cob3-7/groovy_dev

relayboard version 3 on cob3-7
bug fix in voltage_control
Merge pull request #93 from ipa-cob3-7/groovy_dev

bug fix in voltage_control
Merge branch 'groovy_dev' of github.com:ipa320/cob_driver into groovy_dev
cob_footprint_observer: introduce epsilon for adjustment and get rid of annoying warning message
move unified scan publisher to cob_navigation