add manual control node
* add manual_control.launch
get pose data from DB data. id=2007
* change speed ang sigma ddata struct to Geometry_msgs::Twist
* refactor updateOdom()
* add goPos()
* but get segmentation fault at updateVicon() now.
* goPose() run well
* adjust goPose() constancts
* fix DB read error
* add NULL IP address mode for socket class
Merge branch 'issue112' into develop