Merge pull request #76 from TomekGH/master

IRPOS fix4
send goal fix
fix'es
fix
fix
Merge pull request #77 from twiniars/master

communication fix'es
update script fix
Merge pull request #78 from twiniars/master

update script fix
hi fix
Merge pull request #79 from twiniars/master

hi fix
hi fix
Merge pull request #80 from twiniars/master

hi fix
hi fix'es
Merge pull request #81 from twiniars/master

hi fix'es
hi fix
hi fix
Merge pull request #82 from twiniars/master

hi fix
hi fix
Merge pull request #83 from twiniars/master

hi fix
hi fix